Introduction to the MultiUAV2 simulation and its application to cooperative control research

This paper describes the MultiUAV2 simulation and how it has been applied to cooperative control of autonomous uninhabited air vehicles (UAV). MultiUAV2 is a simulation based on SIMULINK, Matlab, and C++ that is capable of simulating multiple UAVs which cooperate to accomplish tactical missions. First there is a discussion of cooperative control of UAVs and then the background of the MultiUAV2 simulation. Next, the simulated mission is explained, including how users can introduce new missions. Next, there are descriptions of the major elements of MultiUAV2, which are: targets/threats, vehicle dynamics, sensors, communications and cooperative assignment algorithms. In the final section, an example of the simulation event flow is presented.