A framework for autonomous UAV swarm behavior simulation

Abstract

In the last several years a large interest in the unmanned aerial vehicles (UAVs) has been seen. This is mostly due to an increase of computational power and decreasing cost of the UAVs itself. One of an intensively researched area is an application of a swarm behavior within team of such UAVs. Simulation tools are one of the means with which quality of solutions in this matter can be measured. In this paper such simulation framework is proposed. The proposed framework is capable of taking under consideration interferences between communicating UAVs, as well as interaction between UAV and surrounding environment. Mathematical models based on which simulation is performed were described, definition of simulation scenario and results of exemplary simulation were also presented.