Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to co...Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.展开更多
基金supported by the National Natural Science Foundation of China(62406345).
文摘Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.
