Agipix Exploded View
📦 3D CAD ↗

Bridging Simulation and Reality in Indoor Aerial Inspection

Agipix is an open, compact, actively sensed aerial robotics platform for indoor autonomy and critical-asset inspection. The same ROS 2 containerized autonomy stack runs in Isaac Sim and on real hardware, enabling fast and reproducible sim-to-real transfer.

View on GitHub Get Started arXiv.org

Simulation

Agipix Simulation

Digital Twin in Isaac Sim with full sensor fidelity and physics simulation

Setup Simulation →

Real Hardware

Agipix Real Hardware

Physical platform ready for deployment with identical autonomy stack

Build Hardware →

Key Highlights

1. Sim-to-Real Deployability

Identical ROS 2 containers and configs run in Isaac Sim and on hardware; zero code changes between environments.

2. Open-Source Platform

Full BOM, CAD, simulation assets, and the containerized ROS 2 stack are released in this repository.

3. Modular Autonomy Stack

ROS 2–based perception, state estimation, mapping, planning, PX4 interface, and logging run as decoupled nodes.

4. Small Form Factor

Compact 438Ă—372 mm frame with protected sensing and agile indoor operation in narrow industrial spaces.

5. Extensive Sensor Suite

3D LiDAR, RGB camera, and IMU integrated into a LiDAR–inertial–visual stack for robust mapping and exploration.

6. Modular Hardware Design

Layered decks and accessible power/data breakouts simplify sensor or compute upgrades without redesign.

AgiPIX paper banner
AgiPIX platform overview across simulation and real deployment.
Mapping result
Indoor mapping and exploration output from field validation runs.

Quick Start

🖥️ Simulation

🔧 Hardware

🤖 Autonomy

Release Schedule

15th March

Public Release

  • Documentation: System Overview, Hardware & Sim Setup, Software/Autonomy
Released
09th April

Preprint published on Arxiv

Released
20th April

Paper accepted at ICUAS 2026

Released
12th May

Real-time OS support with scheduler

Released
05th June

Hardware Syncronisation with ESP32 TimerSync Bridge

Released
15th June

Presentation

Official presentation at ICUAS 2026.

Presented
10th July

CAD files release

Released
After 15th July

Documentation & OS Upgrades

  • Documentation: Data-driven Autonomy Setup, UI Setup
  • 3D Gaussian Splat for GUI rendering in RVIZ side
  • Video and quick start guides
  • Preflight checklist and platform manual
In Progress
Next 2 months

FORREST Dataset Release

  • FORest Reconstruction for Exploration by Sub-canopy Terrestrial-mapping
  • Accompanying annotated dataset
Planned
Future

Long-term Enhancements

  • MANET mesh networking integration
  • Compliant crash structure update
Planned

Collaborate with Us

Interested in joining the AgiPIX project? Fill out the form below to send an email request to the project maintainers with your details.

Cite this work

@misc{arachchige2026agipixbridgingsimulationreality,
      title={AgiPIX: Bridging Simulation and Reality in Indoor Aerial Inspection}, 
      author={Sasanka Kuruppu Arachchige and Juan Jose Garcia and Changda Tian and Lauri Suomela and Panos Trahanias and Adriana Tapus and Joni-Kristian Kämäräinen},
      year={2026},
      eprint={2604.08009},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2604.08009}, 
}