  RadaRays allows for the accurate modeling and simulation of rotating FMCW
radar sensors in complex environments, including the simulation of reflection,
refraction, and scattering of radar waves. Our software is able to handle large
numbers of objects and materials, making it suitable for use in a variety of
mobile robotics applications. We demonstrate the effectiveness of RadaRays
through a series of experiments and show that it can more accurately reproduce
the behavior of FMCW radar sensors in a variety of environments, compared to
the ray casting-based lidar-like simulations that are commonly used in
simulators for autonomous driving such as CARLA. Our experiments additionally
serve as valuable reference point for researchers to evaluate their own radar
simulations. By using RadaRays, developers can significantly reduce the time
and cost associated with prototyping and testing FMCW radar-based algorithms.
We also provide a Gazebo plugin that makes our work accessible to the mobile
robotics community.
