RflySim ToolChain: A Rapid Development and Validation Toolchain for Intelligent Unmanned Swarm Systems

Developing intelligent unmanned swarm systems (IUSSs) is a highly intricate process. Although current simulators and toolchains have made a notable contribution to the development of algorithms for IUSSs, they tend to concentrate on isolated 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 lifecycle. 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 module, and an upper swarm decision-making module. This comprehensive integration encompasses the entire process, from modeling and simulation to testing and deployment, thereby enabling users to rapidly construct and validate IUSSs. The principal advantages of the RflySim ToolChain are as follows: it provides a comprehensive solution that meets the full-stack development needs of IUSSs; the highly modular architecture and comprehensive software development kit (SDK) facilitate the automation of the entire IUSS development process. Furthermore, 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 studies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.