{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T12:12:15Z","timestamp":1779883935170,"version":"3.53.1"},"reference-count":45,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2020,10,30]],"date-time":"2020-10-30T00:00:00Z","timestamp":1604016000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100007053","name":"Korea Institute of Energy Technology Evaluation and Planning","doi-asserted-by":"publisher","award":["20204010600220"],"award-info":[{"award-number":["20204010600220"]}],"id":[{"id":"10.13039\/501100007053","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Practical evaluation of the Unmanned Aerial Vehicle (UAV) network requires a lot of money to build experiment environments, which includes UAVs, network devices, flight controllers, and so on. To investigate the time-sensitivity of the multi-UAV network, the influence of the UAVs\u2019 mobility should be precisely evaluated in the long term. Although there are some simulators for UAVs\u2019 physical flight, there is no explicit scheme for simulating both the network environment and the flight environments simultaneously. In this paper, we propose a novel co-simulation scheme for the multiple UAVs network, which performs the flight simulation and the network simulation simultaneously. By considering the dependency between the flight status and networking situations of UAV, our work focuses on the consistency of simulation state through synchronization among simulation components. Furthermore, we extend our simulator to perform multiple scenarios by exploiting distributed manner. We verify our system with respect to the robustness of time management and propose some use cases which can be solely simulated by this.<\/jats:p>","DOI":"10.3390\/s20216196","type":"journal-article","created":{"date-parts":[[2020,10,30]],"date-time":"2020-10-30T09:29:32Z","timestamp":1604050172000},"page":"6196","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Devising a Distributed Co-Simulator for a Multi-UAV Network"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5118-0572","authenticated-orcid":false,"given":"Seongjoon","family":"Park","sequence":"first","affiliation":[{"name":"School of Electrical Engineering, Korea University, Seoul 02841, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1146-8173","authenticated-orcid":false,"given":"Woong Gyu","family":"La","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Korea University, Seoul 02841, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0856-6415","authenticated-orcid":false,"given":"Woonghee","family":"Lee","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Korea University, Seoul 02841, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4322-8518","authenticated-orcid":false,"given":"Hwangnam","family":"Kim\u00a0","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Korea University, Seoul 02841, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,10,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1109\/TAC.2005.864190","article-title":"Flocking for multi-agent dynamic systems: Algorithms and theory","volume":"51","year":"2006","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Reynolds, C.W. (1987, January 27\u201331). Flocks, herds and schools: A distributed behavioral model. Proceedings of the 14th Annual Conference on Computer Graphics and Interactive Techniques, Anaheim, CA, USA.","DOI":"10.1145\/37401.37406"},{"key":"ref_3","unstructured":"Chung, A., Jung, J., Kim, K., Lee, H., Lee, J., Lee, S., Yoo, S., and Kim, H. (2015). Swarming drones can connect you to the network. Video, Available online: https:\/\/www.youtube.com\/watch?v=zqRQ9W-76oM."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Yoo, S., Kim, K., Jung, J., Chung, A.Y., Lee, J., Lee, S.K., Lee, H.K., and Kim, H. (2015, January 7\u201311). Poster: A multi-drone platform for empowering drones\u2019 teamwork. Proceedings of the 21st Annual International Conference on Mobile Computing and Networking, Paris, France.","DOI":"10.1145\/2789168.2795180"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"12518","DOI":"10.1109\/ACCESS.2018.2803788","article-title":"Multiple drone-cell deployment analyses and optimization in drone assisted radio access networks","volume":"6","author":"Shi","year":"2018","journal-title":"IEEE Access"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Yoo, S., Jung, J., Chung, A.Y., Kim, K., Lee, J., Park, S., Lee, S.K., Lee, H.K., and Kim, H. (2017, January 27\u201329). Empowering Drones\u2019 Teamwork with Airborne Network. Proceedings of the 2017 IEEE 31st International Conference on Advanced Information Networking and Applications (AINA), Taipei, Taiwan.","DOI":"10.1109\/AINA.2017.101"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Park, S., Kim, K., Kim, H., and Kim, H. (2018). Formation control algorithm of multi-UAV-based network infrastructure. Appl. Sci., 8.","DOI":"10.3390\/app8101740"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Lee, S.K., Bae, M., and Kim, H. (2017). Future of IoT networks: A survey. Appl. Sci., 7.","DOI":"10.3390\/app7101072"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"2109","DOI":"10.1109\/TWC.2017.2789293","article-title":"Joint trajectory and communication design for multi-UAV enabled wireless networks","volume":"17","author":"Wu","year":"2018","journal-title":"IEEE Trans. Wirel. Commun."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Wang, N., Xin, Y., Zheng, J., Wang, J., Liu, X., Hou, X., and Liu, Y. (2020, January 7\u201311). Priority-Oriented Trajectory Planning for UAV-Aided Time-Sensitive IoT Networks. Proceedings of the 2020 IEEE International Conference on Communications Workshops (ICC Workshops), Dublin, Ireland.","DOI":"10.1109\/ICCWorkshops49005.2020.9145119"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Seijo, O., Val, I., and Lopez-Fernandez, J.A. (2020). w-SHARP: Implementation of a High-Performance Wireless Time-Sensitive Network for Low Latency and Ultra-Low Cycle Time Industrial Applications. IEEE Trans. Ind. Inform.","DOI":"10.1109\/TII.2020.3007323"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1016\/j.simpat.2019.01.004","article-title":"Application specific drone simulators: Recent advances and challenges","volume":"94","author":"Mairaj","year":"2019","journal-title":"Simul. Model. Pract. Theory"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Shah, S., Dey, D., Lovett, C., and Kapoor, A. (2018). Airsim: High-fidelity visual and physical simulation for autonomous vehicles. Field and Service Robotics, Springer.","DOI":"10.1007\/978-3-319-67361-5_40"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Furrer, F., Burri, M., Achtelik, M., and Siegwart, R. (2016). RotorS\u2014A modular gazebo MAV simulator framework. Robot Operating System (ROS), Springer.","DOI":"10.1007\/978-3-319-26054-9_23"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Day, M.A., Clement, M.R., Russo, J.D., Davis, D., and Chung, T.H. (2015, January 9\u201312). Multi-UAV software systems and simulation architecture. Proceedings of the 2015 International Conference on Unmanned Aircraft Systems (ICUAS), Denver, CO, USA.","DOI":"10.1109\/ICUAS.2015.7152319"},{"key":"ref_16","unstructured":"Goktogan, A.H., Nettleton, E., Ridley, M., and Sukkarieh, S. (2003, January 14\u201319). Real time multi-UAV simulator. Proceedings of the 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03CH37422), Taipei, Taiwan."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1109\/MCS.2007.914691","article-title":"Real-time indoor autonomous vehicle test environment","volume":"28","author":"How","year":"2008","journal-title":"IEEE Control Syst. Mag."},{"key":"ref_18","unstructured":"Venturini, F. (2020, October 23). Distributed Deep Reinforcement Learning for Drone Swarm Control. Available online: http:\/\/tesi.cab.unipd.it\/63808\/."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Khan, A., Yanmaz, E., and Rinner, B. (June, January 31). Information merging in multi-UAV cooperative search. Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China.","DOI":"10.1109\/ICRA.2014.6907308"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"124","DOI":"10.1109\/MNET.2019.1800431","article-title":"UAV-empowered disaster-resilient edge architecture for delay-sensitive communication","volume":"33","author":"Kaleem","year":"2019","journal-title":"IEEE Netw."},{"key":"ref_21","unstructured":"Adelantado, M., Siron, P., and Chaudron, J.B. (2020, October 23). Towards an HLA Run-Time Infrastructure with Hard Real-Time Capabilities. Available online: https:\/\/oatao.univ-toulouse.fr\/4148\/."},{"key":"ref_22","first-page":"42","article-title":"Research on Using High-level Architecture to Develop Fire Control# br# Information Fusion Simulation System","volume":"4","author":"Kai","year":"2019","journal-title":"Comput. Mod."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Guerrero-Castellanos, J., Vega-Alonzo, A., Durand, S., Marchand, N., Gonzalez-Diaz, V.R., Casta\u00f1eda-Camacho, J., and Guerrero-S\u00e1nchez, W.F. (2019). Leader-Following Consensus and Formation Control of VTOL-UAVs with Event-Triggered Communications. Sensors, 19.","DOI":"10.3390\/s19245498"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1109\/TAC.2015.2422491","article-title":"Team-triggered coordination for real-time control of networked cyber-physical systems","volume":"61","author":"Nowzari","year":"2015","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"234","DOI":"10.1145\/190809.190336","article-title":"Highly dynamic destination-sequenced distance-vector routing (DSDV) for mobile computers","volume":"24","author":"Perkins","year":"1994","journal-title":"ACM SIGCOMM Comput. Commun. Rev."},{"key":"ref_26","unstructured":"Clausen, T., Jacquet, P., Adjih, C., Laouiti, A., Minet, P., Muhlethaler, P., Qayyum, A., and Viennot, L. (2020, October 23). Optimized Link State Routing Protocol (OLSR). Available online: https:\/\/hal.inria.fr\/inria-00471712\/."},{"key":"ref_27","unstructured":"Perkins, C., Belding-Royer, E., and Das, S. (2020, October 23). RFC3561: Ad hoc On-Demand Distance Vector (AODV) Routing. Available online: https:\/\/dl.acm.org\/doi\/pdf\/10.17487\/RFC3561?casa_token=WoBX6DS1FTMAAAAA:Go8mXoPSztroQmRfNsT-y7u-qbWeSGCeYr13cVI_wgPfnhBL7vDkmTy69CPWbsasRFRiWtJf5Lpq."},{"key":"ref_28","unstructured":"(2020, October 23). PX4\/jMAVSim. Available online: https:\/\/github.com\/PX4\/jMAVSim."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1016\/j.micpro.2018.05.002","article-title":"A survey of open-source UAV flight controllers and flight simulators","volume":"61","author":"Ebeid","year":"2018","journal-title":"Microprocess. Microsyst."},{"key":"ref_30","first-page":"199","article-title":"Network simulation tools survey","volume":"1","author":"Siraj","year":"2012","journal-title":"Int. J. Adv. Res. Comput. Commun. Eng."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Li, X., Guo, D., Yin, H., and Wei, G. (2015, January 9\u201312). Drone-assisted public safety wireless broadband network. Proceedings of the 2015 IEEE Wireless Communications and Networking Conference Workshops (WCNCW), New Orleans, LA, USA.","DOI":"10.1109\/WCNCW.2015.7122575"},{"key":"ref_32","first-page":"136","article-title":"Spectrum sharing for drone networks","volume":"35","author":"Zhang","year":"2016","journal-title":"IEEE J. Sel. Areas Commun."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1109\/MCOM.2017.1700451","article-title":"Drone-aided communication as a key enabler for 5G and resilient public safety networks","volume":"56","author":"Naqvi","year":"2018","journal-title":"IEEE Commun. Mag."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Bae, M., Yoo, S., Jung, J., Park, S., Kim, K., Lee, J.Y., and Kim, H. (2018). Devising mobile sensing and actuation infrastructure with drones. Sensors, 18.","DOI":"10.3390\/s18020624"},{"key":"ref_35","unstructured":"Gomes, C., Thule, C., Broman, D., Larsen, P.G., and Vangheluwe, H. (2017). Co-simulation: State of the art. arXiv."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"1655","DOI":"10.1007\/s10270-017-0633-6","article-title":"Hybrid co-simulation: It\u2019s about time","volume":"18","author":"Cremona","year":"2019","journal-title":"Softw. Syst. Model."},{"key":"ref_37","unstructured":"Koenig, N., and Howard, A. (2020, October 23). Gazebo-3d Multiple Robot Simulator with Dynamics. Available online: https:\/\/www.semanticscholar.org\/paper\/Gazebo-3D-multiple-robot-simulator-with-dynamics-Koening-Howard\/88d6db5023160f477e8eccbd7e64c3824d78490c."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1145\/235025.235031","article-title":"Parallel execution for serial simulators","volume":"6","author":"Nicol","year":"1996","journal-title":"ACM Trans. Model. Comput. Simul. (TOMACS)"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"989","DOI":"10.1109\/TNET.2005.857119","article-title":"Modeling and performance analysis for wireless mobile networks: A new analytical approach","volume":"13","author":"Fang","year":"2005","journal-title":"IEEE\/ACM Trans. Netw."},{"key":"ref_40","unstructured":"La, W.G. (2020, October 23). Python Asynchronous tcp\/udp Server Framework. Available online: https:\/\/github.com\/juhgiyo\/pyserver."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Riley, G.F., and Henderson, T.R. (2010). The ns-3 network simulator. Modeling and Tools for Network Simulation, Springer.","DOI":"10.1007\/978-3-642-12331-3_2"},{"key":"ref_42","unstructured":"Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., and Ng, A.Y. (2009, January 12\u201317). ROS: An open-source Robot Operating System. Proceedings of the ICRA Workshop on Open Source Software, Kobe, Japan."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"2840","DOI":"10.1109\/JIOT.2019.2963337","article-title":"Drones in distress: A game-theoretic countermeasure for protecting uavs against gps spoofing","volume":"7","author":"Eldosouky","year":"2019","journal-title":"IEEE Internet Things J."},{"key":"ref_44","unstructured":"Ho, F., Salta, A., Geraldes, R., Goncalves, A., Cavazza, M., and Prendinger, H. (2019, January 13\u201317). Multi-agent path finding for UAV traffic management. Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems, Montreal, QC, Canada."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1109\/MCOM.2018.1800161","article-title":"Ultra-reliable IoT communications with UAVs: A swarm use case","volume":"56","author":"Yuan","year":"2018","journal-title":"IEEE Commun. Mag."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/21\/6196\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:27:07Z","timestamp":1760178427000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/21\/6196"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,30]]},"references-count":45,"journal-issue":{"issue":"21","published-online":{"date-parts":[[2020,11]]}},"alternative-id":["s20216196"],"URL":"https:\/\/doi.org\/10.3390\/s20216196","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,10,30]]}}}