Design of Multi-Agent UAV Simulator to Support the Development of the MARSNet Communication Protocol

摘要

Distributed multi-agent UAV systems motivate fundamental problems in control theory and distributed networking. Although these problems are often studied in isolation, emerging applications of UAV systems require an approach that jointly addresses the control and communication issues of interest. One major obstacle to this approach is the lack of simulation tools that capture the dynamics of both fields. This paper describes the design of a simulation tool that combines two independent simulators for robotics and networking. The proposed simulator combines ns-3 with ROS/Gazebo, through a middle-ware interface. Some of the fundamental challenges of this architecture are discussed and resolved.