AeroSwarm: A GPS-Denied Multi-UAV Simulation Framework
- Carlos Osorio
- hace 4 días
- 1 Min. de lectura
AeroSwarm is a simulation framework designed to study collaborative drone navigation in GPS-denied environments. The platform models a swarm composed of one leader drone and two follower drones operating in a complex scenario with obstacles, limited visibility, and communication constraints.
The leader drone is equipped with a 360° LiDAR sensor that continuously scans the environment, detects obstacles, and supports real-time navigation. During the mission, the leader transfers its position, waypoint information, velocity, LiDAR status, and navigation state to the follower drones through drone-to-drone communication links. This allows the swarm to maintain formation and continue coordinated navigation even when GPS is unavailable. The simulator includes multiple dashboard tabs for monitoring the mission. The Navigation + Mapping tab shows the camera views, HUD information, and swarm scenario map. The LiDAR + COMM overlay tab visualizes the LiDAR rays, obstacle detection, and communication links. The Sniffer tab monitors the packet-level communication between the leader and follower drones, including RSSI, latency, packet delivery ratio, RX/DROP state, and LOS/OCC channel condition. AeroSwarm is useful for testing autonomous navigation strategies, communication-aware formation control, LiDAR-based perception, and swarm coordination under GPS-denied conditions. It provides a flexible research platform for developing robust multi-UAV systems for search and rescue, inspection, defense, and operations in indoor, urban, forest, or degraded environments.
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