As an emerging topic, the swarm of autonomous unmanned aerial vehicles (UAVs) has been attracting great attention. Due to the indeterminacy of sensors, distributed cooperative swarms have been considered to be efficient and robust but challenging to design and test. To facilitate the development of distributed swarms, it has been proposed to utilise a simulation platform for cooperative UAVs using imperfect perception. However, the existing simulation platforms cannot satisfy this demand due to a few reasons. First, they are designed for a specific purpose, and their functionalities are difficult to extend. Second, the existing platforms lack compatibility to be applied to different types of scenarios. Third, the modelling of these platforms is too simplified to simulate flight motion dynamic and noisy communication accurately, which may cause a difference in performance between the simulation and real-world application. To address the mentioned issues, this paper models the problem and proposes a simulation platform for distributed swarm cooperative perception, which addresses software engineering concerns and provides a set of extendable functionalities of a cooperative swarm, including communication, estimation, perception fusion, and path planning. The applicability of the proposed platform is verified by simulations with the real-world application. The simulation results demonstrate that the proposed system is viable.

中文翻译：

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分布式无人机群协同规划与感知建模与仿真

作为一个新兴话题，自动驾驶无人机（UAV）群一直备受关注。由于传感器的不确定性，分布式协作群被认为是高效和健壮的，但设计和测试具有挑战性。为了促进分布式群的发展，已经提出利用不完美感知的协作无人机的模拟平台。然而，由于一些原因，现有的仿真平台无法满足这种需求。首先，它们是为特定目的而设计的，它们的功能很难扩展。其次，现有平台缺乏适用于不同类型场景的兼容性。第三，这些平台的建模过于简单，无法准确模拟飞行运动动态和嘈杂的通信，这可能会导致仿真和实际应用之间的性能差异。为了解决上述问题，本文对该问题进行了建模，并提出了一个分布式群协作感知仿真平台，该平台解决了软件工程问题，并提供了一组协作群的可扩展功能，包括通信、估计、感知融合和路径规划. 所提出平台的适用性通过实际应用的模拟得到验证。仿真结果表明所提出的系统是可行的。它解决了软件工程问题并提供了一组可扩展的协作群功能，包括通信、估计、感知融合和路径规划。所提出平台的适用性通过实际应用的模拟得到验证。仿真结果表明所提出的系统是可行的。它解决了软件工程问题并提供了一组可扩展的协作群功能，包括通信、估计、感知融合和路径规划。所提出平台的适用性通过实际应用的模拟得到验证。仿真结果表明所提出的系统是可行的。