A new SysML Model for UAV swarm modeling:

UavSwarmML
Khalil Aloui Moncef Hammadi Amir Guizani
QUARTZ Lab EA7393 – ISAE- QUARTZ Lab EA7393 – ISAE- University of Sfax LA2MP, École
SUPMECA SUPMECA Natioanle d’Ingénieurs de Sfax
3 rue Fernand Hainaut 93400 3 rue Fernand Hainaut 93400 km 4 route de la Soukra, Sfax 3038,
Saint-Ouen, France Saint-Ouen, France Tunisia
amir.guizani@live.fr
khalil.aloui@isae-supmeca.fr moncef.hammadi@isae-supmeca.fr

Mohamed Haddar Thierry Soriano

University of Sfax LA2MP, École
Natioanle d’Ingénieurs de Sfax
km 4 route de la Soukra, Sfax 3038,
Tunisia
mohamed.haddar@enis.rnu.tn
QUARTZ Lab EA7393 – ISAE-
SUPMECA
3 rue Fernand Hainaut 93400
Saint-Ouen, France
thierry.soriano@univ-tln.fr

Abstract—In recent years, autonomous or teleoperated
robots have played an increasingly important role in civilian
applications. In particular, unmanned aerial vehicles (UAVs)
are autonomous aerial robots that come in a wide variety of
basic frameworks and particular specifications. Thus, a swarm
of UAVs is a collection of aerial vehicles that work together to
achieve a specific goal. However, the design of UAVs swarms is
a complex process. Therefore, in this paper we propose a
continuous approach to the design a swarm of UAVs based on
the model-based systems engineering (MBSE) method. This
approach consists of three design levels; the swarm modelling
level, the swarm simulation level and the swarm implementation
level. Indeed, we have created a new Systems Modeling
Language (SysML) model using Domain Specific Language
(DSL) to model the swarm mission, the hardware specifications
of the UAV swarms and the software implementation of the
swarm system. We called this model "UavSwarmML”.
Subsequently, we used in the simulation phase Robot Operating
System (ROS) as a middleware to simulate and implement our
swarm system to validate the developed models. A case study of
an autonomous UAV swarm flight mission was chosen to
validate this design approach and illustrate its contributions to
the efficient design of UAV swarms.
Keywords—Unmanned aerial vehicles (UAVs), SysML model,
Domain Specific Language (DSL), Aerial swarm robots, ROS.
I. INTRODUCTION
Nowadays, multi-agent systems are the subject of a great
deal of research into their various theoretical aspects. Aerial
swarms, which are a type of multi-agent robotic system, have
recently attracted much interest. In fact, unmanned aerial
vehicles (UAVs) are attracting increasing interest in academic
research and industrial applications due to their increasing
sensing and computational capabilities and decreasing form
factors and cost. In addition, the development of several
technologies such as embedded intelligence and autonomous
capabilities has increased the use of UAV systems in more
applications [1]. These applications include, for example,
reconnaissance, surveillance, remote sensing, target
acquisition, infrastructure monitoring, border surveillance,
aerial imaging, industrial inspection and emergency medical
aid. Indeed, a swarm of drones can cover/surveillance the area
much more effectively with minimal human effort,
automatically and quickly sending an alert to the base station
when motion is detected. For example, the individual drones
in a swarm can be fitted with different basic first aid kits that
can be rerouted and handed over to a person in need of medical
assistance even before the medical team reaches them, thus
greatly increasing the chances of saving a person's life [2].
Vehicles that can be defined as autonomous must be able
to make decisions and react to events without direct human
intervention [3]. There are some basic aspects that are shared
by all autonomous vehicles. These include the ability to
analyze sensed information, sense and perceive the
environment, communicate, plan and make decisions, and act
using control algorithms and actuators.
Generally, autonomy in UAV can be divided into five
levels as follows: in the first level what is called Pilot
Assistance, the UAV operator always keeps control of the
overall operation and safety of the UAV. In the second level
which is called Partial Automation, the UAV is able to take
control of altitude, heading and speed in certain limited
scenarios. In the third level which is called Conditional
Automation, the UAV can warn the operator using on-board
sensors if an intervention is required. In the fourth level what
is called High Automation, the UAV is designed to operate
without the requirement of the controller in many
circumstances with the ability to detect and avoid obstacles
using several built-in features, rule sets or machine learning
based algorithms deployed on the computers embedded on the
UAV. In the last level (Full Automation), the UAV operates
completely autonomously without any operator intervention
in any operating scenario [4].
A hierarchical swarm of quadcopters in a leader
subordinate flying/operation model. It allows a single user to
control the movement and formation of the whole swarm
through the leader drone, using an intuitive remote-control
interface. This swarm is a self-organizing structure having the
behaviour of a multi-agent control system. Its formation
flying principle is associated with a remote user/operator and
a wireless communication system between the operator and
the swarm. In fact, there are many proficient techniques to
control UAVs, e.g., adaptive control, Boltzmann-Hamel
equations of motion, Proportional Integral Derivative (PID)
control, localization and mapping methods [5], marker
recognition algorithms [6], wireless communication methods
[7], vision based schemes [8], brain emotional learning based

XXX-X-XXXX-XXXX-X/XX/$XX.00 ©20XX IEEE

intelligent controllers [9], memory-based controllers and
learning-based control methods such as artificial neural
networks [10], iterative and reinforcement learning [11,12].
In the field of UAV design, there are several projects that
propose model-based approaches for the development of
UAV systems. For example, the OpenMETA project
provides a model- and component-based design tool chain for
complex Cyber-Physical Systems (CPS) that handles the
integration of models, tools and design processes [13].
Similarly, the INTO-CPS project focuses on MBSE for CPS
[14]. It uses several tools to cover the entire modelling life
cycle. In addition to sensors and actuators, its CPS model
includes behaviour, which is modelled as an additional
"hardware" component. The CERBERO project [15]
followed a multi-layered model-based approach to describe,
optimize and analyze safe and energy-efficient CPSs,
focusing on adaptability. It uses data models that allow
reconfiguration at runtime.
Our work applies the MBSE approach in modelling a
swarm of UAVs using a new SysML model developed with
DSL named "UavSwarmML". We model not only the
hardware composition of a UAV, i.e., sensors, actuators and
controller, but also the composition of a swarm of UAVs. The
composition of the swarm describes the type and cardinality
of the UAVs included in the swarm. In addition, a simulation
performed on the ROS middleware with GAZEBO
visualization to validate these developed models. The rest of
this paper is organised as follows: Section II describes the
proposed approach to designing a drone swarm. Indeed, we
detail each level of this approach with the different diagrams
of our newly developed model. In this section also, we detail
the simulation level on the ROS middleware to validate these
developed models of our system. In section III, a case study
of a swarm of drones was presented to validate our proposed
approach. In Section IV, an analysis has been presented to
determine the strengths and weaknesses of our proposed
approach. Finally, Section V concludes this work.
II. PROPOSED APPROACH FOR ENGINEERING SWARM OF
UAVS
Our approach to designing a UAV swarm is based on
mission creation. That is, depending on the desired mission of
a swarm, the designer can identify the design approach.Thus,
to design a swarm of UAVs, the swarm designer must follow
a well-determined process to accomplish the desired mission.
This process consists of three main levels: modeling level,
simulation level and deployment level. This design process is
shown in Fig. 1.
In the modeling level, the designer starts by modeling the
mission performed by the swarm. Then the structure of each
UAV and the structure of the whole swarm are modelled.
Subsequently, code generation is required to move to the
second level of simulation. Once the models are developed,
the swarm developer implements these models on a simulator
to validate them. If the mission desired by the swarm is
observed, the designer moves on to the last level (deployment
of the system). If the mission desired by the swarm is not
observed, the designer returns to the modelling level and
makes the necessary modifications.
Fig. 1. The proposed approach for engineering swarm of UAVs
A. Modeling Level
1) Mission modeling
The mission of swarm agents is usually modelled by textual
and mathematical formulations [16], [17] pseudo-code [18] or
diagrams [16]. The latter are very popular as diagrams can be
represented both visually for human reading and formally for
automatic processing. In several researches, finite state
machines (FSM) have been used to model the behaviour of
individual robots [19], [20], multi-robot systems [21],
networked systems [22] and swarm robotic systems [23].
Other approaches go further by defining a new language for
specific purposes. For example, Modelica is a language for the
modelling and simulation of physical systems [24]. It has been
applied to the simulation of CPS in [25]. However, SENDE et
al. [26] have proposed a modelling approach that is flexible
enough to present different complex scenarios using different
types of hardware. This approach builds on the well-
established concepts of Unified Modelling Language (UML),
SysML and FSM to increase acceptance.
In our design approach, we use a new SysML model
developed using DSL to describe the mission performed by a
swarm of UAVs. We call this new model: Mission Diagram
Model. With a UML-based metamodel, it is possible to
customise the interface to change the formulation of the DSL
elements. This has the advantage of allowing a DSL to be
internationalised. It is then possible, for technical purposes, to
define its DSL (stereotypes and stereotype properties). When
a stereotype is generated and implemented for a class, by
default, that class will be shown as a <<stereotype>> class.
In general, the swarm mission is a set of collective
behaviours of robots to achieve a common goal. These
collective behaviours are also made up of the functions
performed by each individual robot. Each UAV follow a state
machine represented with a new specific SysML diagram
developed with DSL represented on Fig. 2. This diagram is a
set of stereotypes each one has its objectives and its attributes
(State, action, behavior, ...). These stereotypes are linked
together with specific bindings created to represent the
relationship between the states.
 UAV. Even if the engines are of the same make and model,
their speed may vary. In addition, the battery should be based
on the motors chosen for the UAV. Since batteries are the
heaviest component of a UAV, they are usually mounted at
the dead centre of the UAV to subject the motors to the same
load.

Fig. 3. New SysML diagram for UAV structure modeling “UAV Structure
Diagram”

• Swarm Architecture Diagram

Generally, a swarm of unmanned aerial vehicles (UAVs)
is a collection of aerial robots that work together to achieve a
specific goal. A new SysML diagram extends the BDD to
model the swarm as a whole. We called this diagram “Swarm
Architecture Diagram”. It specifies the types and number of
UAVs used in the swarm. It also specifies how the mission
algorithms can interact with the world by defining the sensors,
actuators and communication interfaces. While sensors are
Fig. 2. New SysML diagram for mission modeling “Mission Diagram
inputs for collecting information about the environment and
Model.” actuators are outputs for interacting with the environment, a
communication interface can be both an input and an output
2) Hardware modeling for the swarm algorithms and allows coordination between
One of the main aspects of modelling a UAV swarm is to UAVs. This model is shown in Fig. 4.
specify its architecture in terms of hardware components and
their interactions. We build the hardware models using a new
SysML model developed using the DSL. This metamodel
includes two types of diagrams: UAV Structure Diagram and
Swarm Architecture Diagram.
• UAV Structure Diagram
Generally, building a custom UAV can be a difficult and
complex project. Therefore, modelling a well-defined
structure of a UAV is a very important task. In this study, a
new SysML diagram that extends the BDD to model the
individual hardware components of each UAV is created. We
called this diagram "UAV structure diagram". It specifies the
existing hardware component types and defines their
parameters such as inputs and outputs. Fig. 3 shows this new
SysML diagram.
The UAV consists essentially of a multi-rotor frame,
electric motors, batteries and a set of intelligent sensors.
Indeed, the frame of a UAV is an important part of the aircraft
as it must be light enough for the UAV to take off but strong
enough to provide support. In fact, UAVs have their own
flight dynamics and structural integrity that must be respected.
In aviation, the motors chosen will have a huge impact on the
flight time and load that the UAV can carry. It is strongly
recommended that the same type of engine is used for all Fig. 4. New SysML diagram for swarm architecture modeling “Swarm
Architecture Diagram”
rotors so that they all do the same amount of work for the
B. Simulation Level In the next section, we will apply our design approach to a
Simulation is the second level of this design approach, the case study of a swarm of aerial robots on a surveillance
transition from the modelling level to the simulation level is mission in order to illustrate that our approach is able to easily
done by an intermediate step noted code generation. Indeed, handle a large number of robots while ensuring the design
the code generator is responsible for transforming the models continuity process in terms of design traceability.
developed with the UavSwarmML model into code that can III. CASE STUDY: AN AERIAL ROBOTIC SWARM IN
be deployed and executed on the UAVs [27].
SURVEILLANCE MISSION
To implement the models developed in the ROS To apply this surveillance mission with a swarm of drones,
middleware, we create a new custom diagram with DSL called we follow the design approach proposed above.
"Software Structure Diagram". This diagram explains the
integration of software specifications to express the collective A. Modeling Level
swarm mission of the UAVs. Indeed, functions are assigned 1) Mission modeling
to hardware components. Thus, the system is broken down First, we start with the requirements specification of this
into logical components with different alternatives. We swarm of drones on a surveillance mission. To simplify this
therefore use the ROS platform as the operating system. ROS work, we use the SysML requirements diagram. In this case,
is a set of tools defined for writing software for robots. It is a the mission of a swarm of drones performing surveillance is
set of conventions and libraries for creating complex and defined as an autonomous flight of all drones. A mission is
robust robot behaviour on a variety of robotic platforms [28]. initiated when the user presses the mission start button and
In ROS, the node can correspond to a treatment algorithm, ends by itself or when the user presses the mission stop button.
a motor, a sensor or a monitoring robot. Information is shared Fig. 6 shows the SysML requirements diagram that defines the
either synchronously via a service exchanged between robots, needs of this mission.
or asynchronously via a topic. A topic is an information
transport system based on a (subscribe / publish) system. One
or more nodes of the robots will be able to publish information
on a topic and one or more nodes will be able to read
information on that topic [29]. Fig. 5 describes the ROS-based
software architecture of a swarm of UAVs.
With ROS, the developer can associate a node for each
UAV. So, the UAV can play in one time the role of a publisher
to publish data on the Topic (position, speed, information
captured by its sensors, ...) and can play in other time the role
of a subscriber to use the information that are already
published on the Topic by the other UAVs of the swarm [30].
In the case of communication by service, each node
(individual UAV) can request by message specific data from
another node (other UAVs) and the latter respond with a set
of information or data.

Fig. 5. New SysML diagram for modelling UAV swarm software

architecture “Software Structure Diagram”
C. Real implementation Level
In this last level, the developer implements the system on
real robots (e.g., Drones). As with the transition between the
previous phases, the developer can modify the simulated
model or the descriptive model if certain assumptions are not
verified in order to keep all levels consistent.
Fig. 6. SysML requirements diagram defines mission needs.
Once the requirements are specified, we follow our
proposed design approach to design the swarm of drones. We
now model this mission using "Mission Diagram Model".
Fig. 7 shows Mission Diagram Model which describes the
monitoring mission.
 • Swarm Architecture Diagram
In this case study, a swarm of aerial robots is a set of three
drones that fly together to service the entire area. Fig. 9 shows
the architecture of this swarm of three drones using the
UavSwarmML model.

Fig. 7. Mission Diagram Model for monitoring mission.

Initially, the individual drone is at rest; all the user has to

do is press the mission start button; the drone takes off, it starts
to loiter to search for its nearest neighbor using its sensors.
And when it finds it, it follows it and forms a swarm with the
other drones. This mission ends on its own or when the user
presses the mission stop button.
2) Hardware modeling
In this step, we have to specify the hardware specifications
of each drone and the whole swarm of drones to implement
this mission in the real world.
• Drone Structure Diagram
In this case study, the UAV is a drone; the new diagram will
be named "Drone Structure Diagram" and is shown in Fig. 8.
The drone essentially consists of a multi-rotor chassis,
batteries, electric motors and a set of intelligent sensors. In
effect, the drone frame is a quadcopter. It is the most popular
model because it is easy to build and is also quite versatile. Fig. 9. Swarm Architecture Diagram of three Drones.

B. Simulation Level
In this simulation stage, the ROS middleware is used to
simulate and implement the UAV swarm system. To
implement the swarm system developed in the ROS
middleware, we apply the developed diagram that we called
"Software Structure Diagram" to build the ROS software
architecture of the UAV swarm. This diagram shown in Fig.
10 explains the integration of the ROS software specifications
to express the collective mission of the UAV swarm.

Fig. 8. Drone Structure Diagram.

Fig. 10. Software Structure Diagram of three Drones.

 When the modelling phase is complete, the resulting models
are translated into XML files. These files contain all the
necessary information that the code developer needs to
implement the system on ROS. In particular, Unified Robot
Description Format (URDF) and Simulation Description
Format (SDF) files contain the detailed description of each
drone. In addition, a Word file contains the definition of the
working interface.
Firstly, XML files are created to describe the structure of
each drone. In ROS, the SDF format has been used to define
this structure using the UavSwarmML model developed
above. Fig. 11 shows a simulated version of a drone visualized
with GAZEBO with its different components.
Fig. 11. Simulated version of a UAV visualized with GAZEBO
Secondly, the developer describes the mission with Python
codes using the developed SysML diagrams which describes
the mission of a swarm of drones. In fact, this mission is
defined as an autonomous flight of all drones. Fig. 12 shows
the gazebo launch with three drones ready to start the mission.
The developer can use the multi_takeoff.launch file to give a
simple takeoff and landing mission to the swarm of drones.
With the launching of this file, the three drones will take off
and land.
Fig. 12. Simulated version of a UAV visualized with GAZEBO
Finally, once the desired swarm mission has been
observed, the designer validates the system and moves on to
the final stage of prototyping and implementing the system on
real robots.
C. Real implementation Level
In this last level, the developer implements the system on
three real drones. The designer can buy drones that are already
ready for testing or buy the components of each drone and
install it by himself. The purpose of this design level is to
validate the developed models and the simulated version of
the system. As with the transition between the previous
phases, the designer can modify the simulated model or the
descriptive model if certain assumptions are not verified in
order to keep all levels consistent.
IV. ANALYSIS AND DISCUSSION
To validate this design approach, illustrative validation
elements of the mission requirements are provided. A
comparative study between the mission requirements, the
simulation actions performed in the ROS simulation
environment and the SysML/UML information used for this
purpose has been carried out. This study shows that the
mission requirement is autonomous flight of all UAVs i.e. the
mission is launched when the user presses the mission start
button and terminates itself or when the user presses the
mission stop button. From a modelling point of view with the
new UavSwarmML model, this requirement has been met by
the various new SysML diagrams developed such as, the new
SysML diagram for mission modeling (Mission Diagram
Model), the new SysML diagram for UAV structure modeling
(UAV Structure Diagram), the new SysML diagram for
swarm architecture modeling (Swarm Architecture Diagram)
and the new SysML diagram for software architecture
modeling (Software Structure Diagram). From the point of
view of simulation on ROS, this requirement has been met by
visualizing with GAZEBO the different simulated versions of
the drone and the swarm of drones.
Each design method has its limitations. Although modelling
swarming aerial robots is a difficult task, our approach does
facilitate the design of these types of robots. For example, the
spatial and temporal aspects of the system or the robot-robot
interaction are always difficult to capture in a model.
However, the simulation of the system can be complicated
depending on the complexity of the system to be developed
and requires the ingenuity and expertise of the developer.
V. CONCLUSION
To date, most swarm robot design approaches require
continuity and consistency between these different design
levels. In this paper, we have proposed a design approach to
ensure continuity between the three design levels; the
modelling level, the simulation level and the deployment
level. This method is based on the MBSE method using the
new SysML diagrams described with DSL and the ROS
architecture. In the first part, we presented the work done on
the design of unmanned aerial vehicles. In the second part, we
developed a new approach where we created new SysML
diagrams to describe the mission and structure of the UAV
swarm.
In the future, we aspire to know the high-level and low-
level ROS architecture of other collective behaviours of
UAVs such as pattern formation and surveillance.
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