![]() ![]() We describe a simulation environment that enables the development and testing of control policies for off-road mobility of autonomous agents. The software stack described is open source. The environment described performs the following: multi-vehicle multibody dynamics co-simulation in a time/space-coherent infrastructure that relies on the Message Passing Interface standard for low-latency parallel computing sensor simulation (e.g., camera, GPU, IMU) simulation of a virtual world that can be altered by the agents present in the simulation training that uses reinforcement learning to 'teach' the autonomous vehicles to drive in an obstacle-riddled course. Policies learned on rigid terrain are shown to transfer to hard (silt-like) and soft (snow-like) deformable terrains. The environment is demonstrated in conjunction with the training and assessment of a reinforcement learning policy that uses sensor fusion and inter-agent communication to enable the movement of mixed convoys of human-driven and autonomous vehicles. We describe a simulation environment that enables the design and testing of control policies for off-road mobility of autonomous agents. In this paper, we provide an overview of the Chrono::Vehicle software design philosophy, its main capabilities and features, describe the types of ground vehicle mobility simulations it enables, and outline several directions of future development and planned extensions. Written in C++, Chrono::Vehicle is offered as a middleware library. Vehicle models are specified as a hierarchy of subsystems, each of which is an instantiation of a predefined Interfacing to other optional Chrono modules (e.g., its granular dynamics and fluid-solid interaction capabilities), and providing a modular and expressive API to facilitate its use in third-party applications. ![]() Its software architecture and design was dictated by the desire to provide an expeditious and user-friendly mechanism for assembling complex vehicle models, while leveraging the underlying Chrono modeling and simulation capabilities, allowing seamless Simulation package Chrono, aimed at modeling, simulation, and visualization of wheeled and tracked ground vehicle multi-body systems. Chrono::Vehicle is a module of the open-source multi-physics
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