ABSTRACT

Simulation environments for Unmanned Aerial Vehicles (UAVs) can be very useful for prototyping user interfaces and training personnel that will operate UAVs in the real world. The realistic operation of such simulations will only enhance the value of such training. In this paper, we present the integration of a model-based waypoint navigation controller into the Reno Rescue Simulator for the purposes of providing a more realistic user interface in simulated environments. We also present potential uses for such simulations, even for real-world operation of UAVs. IntroductionUnmanned Aerial Vehicles (UAVs) are being utilized in civilian airspace for emergency operations. These applications include providing overwatch for search and rescue and helping emergency management personnel define the boundaries of forest fires. The critical value of such systems is to increase the situational awareness of emergency management personnel in disaster settings. Given reasonable concerns regarding the ability of an autonomous UAV to properly operate in such a setting, semi-autonomous systems where a human operator is involved in decision-making but does not exert total control are preferred. An operator would provide a UAV or a group of UAVs with highlevel tasking and the UAV would carry out such a command.The conditions under which such public safety UAV swarms would operate do not occur regularly and have little room for

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