TY  - JOUR
AU  - Zhou, Hui
PY  - 2026
DA  - 2026/09/16
TI  - Advances in ROS-Based Robot Simulation Technology: A Mini Review
JO  - ICCK Transactions on Intelligent Cyber-Physical Systems
T2  - ICCK Transactions on Intelligent Cyber-Physical Systems
JF  - ICCK Transactions on Intelligent Cyber-Physical Systems
VL  - 1
IS  - 3
SP  - 93
EP  - 96
DO  - 10.62762/TICPS.2026.304297
UR  - https://www.icck.org/article/abs/TICPS.2026.304297
KW  - ROS
KW  - ROS 2
KW  - robot simulation
KW  - Gazebo
KW  - Sim-to-Real
KW  - virtual-real integration
AB  - Robot simulation provides a repeatable and risk-controlled environment for developing increasingly integrated robotic systems. Within this field, the Robot Operating System (ROS) links robot models, sensors, controllers, and algorithms through modular communication interfaces and has formed a broad ecosystem with simulators such as Gazebo, Webots, and NVIDIA Isaac Sim. Recent progress has shifted from basic rigid-body and sensor simulation toward ROS~2-based interface unification, high-fidelity perception, GPU-accelerated synthetic-data generation, and Sim-to-Real transfer. This paper reviews these advances, discusses key developments in modeling, navigation, manipulation, and sensor simulation, and summarizes remaining challenges in fidelity, real-time performance, and virtual--real consistency.
SN  - 3071-2947
PB  - Institute of Central Computation and Knowledge
LA  - English
ER  - 

@article{Zhou2026Advances,
  author = {Hui Zhou},
  title = {Advances in ROS-Based Robot Simulation Technology: A Mini Review},
  journal = {ICCK Transactions on Intelligent Cyber-Physical Systems},
  year = {2026},
  volume = {1},
  number = {3},
  pages = {93-96},
  doi = {10.62762/TICPS.2026.304297},
  url = {https://www.icck.org/article/abs/TICPS.2026.304297},
  abstract = {Robot simulation provides a repeatable and risk-controlled environment for developing increasingly integrated robotic systems. Within this field, the Robot Operating System (ROS) links robot models, sensors, controllers, and algorithms through modular communication interfaces and has formed a broad ecosystem with simulators such as Gazebo, Webots, and NVIDIA Isaac Sim. Recent progress has shifted from basic rigid-body and sensor simulation toward ROS~2-based interface unification, high-fidelity perception, GPU-accelerated synthetic-data generation, and Sim-to-Real transfer. This paper reviews these advances, discusses key developments in modeling, navigation, manipulation, and sensor simulation, and summarizes remaining challenges in fidelity, real-time performance, and virtual--real consistency.},
  keywords = {ROS, ROS 2, robot simulation, Gazebo, Sim-to-Real, virtual-real integration},
  issn = {3071-2947},
  publisher = {Institute of Central Computation and Knowledge}
}