A Swarm Simulator

John Page, Haoyang Cheng


- Cooperative teams of Unmanned Aerial Vehicles (UAVs) have applications for a number of civil and military missions. The cooperative control of a group of UAVs is a complex problem that is dominated by uncertainty, limited information, and task constraints. Centralized, hierarchical and decentralized, decision and control algorithms have been developed to address this complexity. In order to investigate potential cooperative UAV control algorithms, a multi-vehicle simulator, called the cluster simulator was developed. The cluster simulator also has the flexibility to simulate other distributed logic systems such as power networks, land vehicles etc. though we are only just starting to investigate these applications.


Human-machine interface, Simulation, Swarm, UAVs.

Full Text:



C. W. Reynolds, "Flocks, herds and schools: A distributed behavioral model," in the 14th annual conference on Computer graphics and interactive techniques, SIGGRAPH, 1987, pp. 25-34.

E. Bonabeau, et al., Swarm Intelligence- From Natural to Artificial Systems: Oxford University Press, 1999.

E. Lorenz, The Essence Of Chaos: CRC Press, 1995.

K. Heffner and F. Hassaine, "Towards Intelligent Operator Interfaces in Support of Autonomous UVS Operations," in 16th International Command and Control Research and Technology Symposium, Quebuc, Canada, 2011.

C. Schumacher, et al., "UAV task assignment with timing constraints via mixedinteger," in AIAA 3rd Unmanned Unlimited Systems Conference, 2004.

C. Schumacher, et al., "Task allocation for wide area search munitions with variable path length," in American Control Conference, 2003. Proceedings of the 2003, 2003, pp. 3472-3477 vol.4.

C. Schumacher, et al., "Task allocation for wide area search munitions," in American Control Conference, 2002. Proceedings of the 2002, 2002, pp. 1917-1922 vol.3.

T. Shima and C. Schumacher, "Assigning cooperating UAVs to simultaneous tasks on consecutive targets using genetic algorithms," Journal of the Operational Research Society, 9 July 2008 2008.

S. Garnier, et al., "The biological principles of swarm intelligence," Swarm Intelligence, vol. 1, pp. 3-31, 2007.

P. Gaudiano, et al., "Control of UAV Swarms: What The Bugs Can Teach Us," presented at the 2nd AIAA "Unmanned Unlimited" Systems, Technologies, and Operations, San Diego, California, 2003.

I. C. Price, "Evolving self-organized behavior for homogeneous and heterogeneous UAV or UCAV swarms," Master of Science, Department of Electrical and Computer Engineering, Air Force Institute of Technology, 2006.

C. A. Erignac, "An Exhaustive Swarming Search Strategy based on Distributed Pheromone Maps," presented at the AIAA Infotech@Aerospace 2007 Conference and Exhibit, Rohnert Park, California, 2007.

S. Hauert, et al., "Evolved swarming without positioning information: an application in aerial communication relay," Autonomous Robots, vol. 26, p. 11, 2009.

A. Ilachinski, Artificial War: Multiagent-Based Simulation

of Combat: World Scientific Publishing Company, 2004.

C. M. Macal and M. J. North, "Agent-based modeling and simulation," in Simulation Conference (WSC), Proceedings of the 2009 Winter, 2009, pp. 86-98.

DOI: http://dx.doi.org/10.21535%2Fjust.v1i2.12


  • There are currently no refbacks.

Creative Commons License
This work is licensed under a Creative Commons Attribution 3.0 License.