Abstract
Multi-agent UAV systems present a complex challenge requiring solutions to numerous subproblems. This research addresses two key issues: simulation testing and path planning. A modular simulation environment is developed, enabling users to run diverse mission scenarios with heterogeneous UAV teams and to implement custom dynamic models and guidance laws. Additionally, two novel B-spline trajectory generation methods are proposed. The first generates time-synchronized B-spline paths for UAVs with arbitrary initial and final states in 2D space, accommodating scenarios where agents must follow predetermined speed profiles. The second guidance method converts spline paths between MINVO, Bézier, and non-uniform B-spline representations, leveraging the tight convex property bounds of MINVO and Bézier control points while providing the flexibility and continuity of non-uniform B-splines. These innovations in simulation and path planning expand the practical implementation capabilities of multi-agent UAV systems in real-world scenarios.
Degree
MS
College and Department
Ira A. Fulton College of Engineering; Electrical and Computer Engineering
Rights
https://lib.byu.edu/about/copyright/
BYU ScholarsArchive Citation
Shumway, Landon D., "A Modular Simulation Environment and B-Spline Trajectory Generation Methods for Multi-Agent UAV Systems" (2025). Theses and Dissertations. 11323.
https://scholarsarchive.byu.edu/etd/11323
Date Submitted
2025-06-12
Document Type
Thesis
Permanent Link
https://arks.lib.byu.edu/ark:/34234/q2a21de306
Keywords
UAVs, multi-agent systems, simulation tools, B-splines
Language
english