Simbeeotic: A simulator and testbed for micro-aerial vehicle swarm experiments

Bryan Kate, Jason Waterman, Karthik Dantu, Matt Welsh
2012 2012 ACM/IEEE 11th International Conference on Information Processing in Sensor Networks (IPSN)  
Micro-aerial vehicle (MAV) swarms are an emerging class of mobile sensing systems. Simulation and staged deployment to prototype testbeds are useful in the early stages of large-scale system design, when hardware is unavailable or deployment at scale is impractical. To faithfully represent the problem domain, a MAV swarm simulator must be able to model the key aspects of the system: actuation, sensing, and communication. We present Simbeeotic, a simulation framework geared toward modeling
more » ... ward modeling swarms of MAVs. Simbeeotic enables algorithm development and rapid MAV prototyping through pure simulation and hardware-in-the-loop experimentation. We demonstrate that Simbeeotic provides the appropriate level of fidelity to evaluate prototype systems while maintaining the ability to test at scale. • Variable Fidelity The desire to improve the accuracy of models is often at odds with simulation performance (scalability in this case). Users should be free to construct models with the appropriate level of fidelity to capture the subtleties of their problem. For example, researchers working on emergent algorithms may not require realistic flight control loops,
doi:10.1109/ipsn.2012.6920950 fatcat:4yoxqocdpfhxfk3aetco2xpyo4