Multi-UAV software systems and simulation architecture

As unmanned aerial systems (UAS) continue to increasingly require greater integration of sophisticated software systems, developing and utilizing best practices and principles of formal software systems engineering can enhance and ensure the safety, reliability, and performance of these systems. This paper highlights the detailed implementation of a number of such tools, including agile software development methods such as automated software testing, and enhanced simulation-in-the-loop testing for multi-UAS virtual and live-fly capabilities. Significant and tangible benefit to active field experimentation is demonstrated through description of these integrated approaches, impacting ongoing efforts in multi-UAS research, testing, and assessment practices.