UavSim: An Open-Source Simulator for Multiple UAV Path Planning

Though the primary method for evaluating multiple UAV path planning algorithms is simulation, there is no lightweight open-source software built to compare algorithms. As a result, most researchers develop their own simulation environments. The presence of many simulation environments makes evaluation of separately developed algorithms difficult. To introduce standardization into the multiple UAV path planning space, we have created an easy-to-use simulator for both development and evaluation of path planning algorithms. Our simulator focuses on the problem of small object detection using multiple UAVs. Its careful object-oriented design allows users unlimited flexibility in developing planning algorithms. UavSim is freely available on GitHub (https://github.com/rmaksymiuk/UavSim).