SwarmFly: 用于无人机集群实验设计与验证的仿真平台
SwarmFly: A simulation platform for UAV swarm experiment design and validation
AI总结：
提出基于MATLAB的模块化仿真平台SwarmFly，通过插件架构和四种协调模式，支持多无人机集群实验设计、故障注入及性能验证。
摘要：
无人机集群的初始开发阶段很大程度上依赖于仿真进行实验设计和验证，然而现有的开源工具往往缺乏维护、学习曲线陡峭，或者围绕单一固定场景构建。对全面、模块化仿真平台的需求是一个公认的研究空白。本文提出SwarmFly，一个基于MATLAB的多无人机集群仿真与测试平台，填补了这些空白。SwarmFly结合了实时操作地图、四种集群协调模式（领航-跟随、分散式、异构中继和异构速度）、模拟IMU遥测和基于IP的地理定位，并采用插件架构，使研究人员能够在不触及核心代码的情况下添加行为、故障模型和分析工具。八个捆绑插件将基础模拟器扩展为完整的测试工具。SwarmFly平台使多智能体空中集群暴露于广泛的内部和外部干扰，从而能够观察和量化底层集群控制和行为机制。本研究通过八个实验验证并表征了每个子系统，测量了编队精度、风扰容限、故障恢复、能量续航和空域合规性。该平台完全在MATLAB中运行。其模块化设计支持直接扩展到硬件在环测试、更大集群和更高保真度动力学。开源版本可在[此https URL]获取。
英文摘要：
The initial development phase of UAV swarms largely depends on simulation for experimental design and validation, yet existing open-source tools are often unmaintained, have steep learning curves, or are built around a single fixed scenario. The need for a comprehensive, modular simulation platform is a recognized research gap. This paper presents SwarmFly, a MATLAB-based simulation and test platform for multi- UAV swarms that addresses these gaps. SwarmFly combines a real-time operational map, four swarm coordination modes (leader-follower, decentralized, heterogeneous relay, and heterogeneous speed), simulated IMU telemetry, and IP-based geolocation with a plugin architecture that lets researchers add behaviors, fault models, and analysis tools without touching the core code. Eight bundled plugins extend the base simulator into a full test harness. The SwarmFly platform exposes multi-agent aerial swarms to a wide range of internal and external disruptions, enabling observation and quantification of underlying swarm control and behavioral mechanisms. This study verifies and characterizes each subsystem through eight experiments that measure formation accuracy, wind tolerance, fault recovery, energy endurance, and airspace compliance. The platform runs entirely in MATLAB. Its modular design supports straightforward extension toward hardware-in-the-loop testing, larger swarms, and higher-fidelity dynamics. An open-source release is available at [https://github.com/abhishekphadke/SwarmFly.git]
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
