Agri-fly: Simulator for Uncrewed Aerial Vehicle Flight in Agricultural Environments

We present Agri-fly, a simulator for Uncrewed Aerial Vehicles (UAVs) with a focus on agricultural applications. In addition to general flight simulator features, such as dynamics modeling and sensor synthesis, Agri-fly comes with an autonomous stack for under-the-canopy flight and tools to create high-fidelity agricultural landscapes. By leveraging detailed plant models and tools for scene customization, Agri-fly excels at generating realistic agricultural environments for UAV operations. This capability facilitates in-depth analysis of the visual and spatial relationships between UAVs and plants, creating avenues for refining operational strategies in agricultural environments. The source code of Agri-fly and detailed usage instructions are available at: https://github.com/muellerlab/agri-fly.