A minimal 2D simulation environment for testing drone path planning and autonomy algorithms.

• Simple 2D world with boundaries and obstacles (circles, rectangles)
• Unicycle-style drone dynamics model
• Simulated 2D lidar/rangefinder sensor
• Waypoint-following controller
• Visualization and animation tools
• Modular design for easy extension

pip install -e .

Or install dependencies directly:

pip install numpy matplotlib pytest

Run the demo scripts:

# Open-loop control demo
python scripts/run_demo_open_loop.py

# Waypoint-following demo
python scripts/run_demo_waypoints.py

Outputs (plots, animations, logs) will be saved to outputs/.

pytest

• src/fluxspace_sim/ - Main simulation package
  • world/ - World model, obstacles, geometry
  • drone/ - Drone state, dynamics, controllers
  • sensors/ - Sensor models (lidar)
  • sim/ - Simulator and logging
  • viz/ - Visualization tools
• scripts/ - Demo scripts
• tests/ - Unit tests
• outputs/ - Generated outputs (gitignored)

See docs/USAGE_GUIDE.md for a comprehensive usage guide with examples.

To add a custom controller, implement the controller interface and pass it to the simulator. To add path planning, integrate with the controller and sensor interfaces.