• Some domains have open-source simulators; utilize them if suitable for the developed AI system. ISO/IEC TR 29119-11:2020 provides examples of simulators as follows:
✔ Video game engine-based mobile robot simulator: Modular OpenRobots Simulation Engine project;
✔ Home service robot training simulator: Facebook’s AI Habitat;
✔ Simulator that displays physical phenomenon: Google DeepMind’s MuJoCo; and
✔ Virtual simulator for drone flight systems: Microsoft’s Aerial Informatics and Robotics Platform
• Consider the scale of additional resources (e.g. human resources, expenses, time) in the planning and design phase if you must build a simulator due to the absence of a reusable simulator.
• A simulator must represent the operating environment. For instance, when performing virtual tests for drones, representativeness is required in no-fly zones regulated by the drone policy [15].