From Ground to Air: Extension of RoboSim to Model UAVs and Behaviors for Urban Operations

An extension of an existing 3D robotic simulator, RoboSim, has been developed to include the modeling of heterogeneous UAVs as well as their behaviors for urban operations. Control strategies and aerodynamics models, as well as algorithms for UAV autonomous behaviors have been implemented and validated with the robotic simulation system. This extension allows RoboSim to be used to identify the appropriate sensors as well as the design parameters for UAV autonomy. The extension makes it possible also to evaluate the performance of the cooperation between human supervisors with the unmanned ground and unmanned aerial vehicles. The paper describes the modeling and simulation of intelligent UAVs as well as the integration of the software in the simulation.