A Survey on Open-Source Simulation Platforms for Multi-Copter UAV Swarms

Simulation platforms are critical and indispensable tools for application developments of unmanned aerial vehicles (UAVs) because the UAVs generally costly, have certain requirements test environment, need professional licensed operators. Thus, developers prefer (or have) to their applications on simulation before implementing them real machines. In past decades, a considerable number robots been developed, which brings convenience developers, but also makes hard choose proper one as they not always familiar with all features platforms. To alleviate this dilemma, paper provides survey open-source employs multi-copter UAV swarm an example. The covers seven widely used simulators, including Webots, Gazebo, CoppeliaSim, ARGoS, MRDS, MORSE, USARSim. outlines swarms shows how select appropriate platform. Additionally, presents case study based Webots. This research will be beneficial researchers, educators, engineers who seek suitable development, (not only other types robots), further helps save expenses testing, speed up development progress.