  AutoDRIVE is envisioned to be a comprehensive research platform for scaled
autonomous vehicles. This work is a stepping-stone towards the greater goal of
realizing such a research platform. Particularly, this work proposes a
pseudo-realistic simulator for scaled autonomous vehicles, which is targeted
towards simplicity, modularity and flexibility. The AutoDRIVE Simulator not
only mimics realistic system dynamics but also simulates a comprehensive sensor
suite and realistic actuator response. The simulator also features a
communication bridge in order to interface externally developed autonomous
driving software stack, which allows users to design and develop their
algorithms conveniently and have them tested on our simulator. Presently, the
bridge is compatible with Robot Operating System (ROS) and can be interfaced
directly with the Python and C++ scripts developed as a part of this project.
The bridge supports local as well as distributed computing.
