Simulating A UAV Swarm - Overview And Proposal

Abstract

The paper is aimed at simulations of a UAV swarm. The first part of the paper presents aUAV swarm overview, application areas, and two main kinds of UAVs swarm control, i.e. with/withouta base station. The second part of this paper discusses possibilities and problems in UAVs swarm simulations.The main part of this paper offers our own proposal on how to simulate a UAV swarm. Theproposal is architecture, which contains 3 main parts - Our own logic unit, which is responsible fordata processing, decisions, and actions of a device, Gazebo as a realistic simulation environment, andROS as a bridge between Gazebo and our logic unit. Additionally, a simple simulation of multipleUAVs was done.