Hardware-in-the-Loop Simulation of UAVs with OMNeT++

By integrating real UAVs into hardware-in-the-loop (HIL) simulations, researchers can bridge the gap between theoretical models and real-world performance. This approach allows for the simulation of large-scale networks — such as TSN (Time-Sensitive Networking) or 5G — without the need for full-scale physical infrastructure. Instead, UAVs can be connected to simulated environments to study how network conditions, such as latency, jitter, or packet loss, affect their movement, control systems, and mission outcomes.

HIL simulations enable the testing of network protocols and UAV behavior in controlled yet realistic conditions. For example, TSN’s strict timing requirements or 5G’s high bandwidth can be modeled to evaluate how they influence UAV coordination, obstacle avoidance, or data transmission reliability. This is particularly important for applications like autonomous delivery, swarm operations, or smart city monitoring, where network performance directly impacts system safety and efficiency.

Goals of the thesis

The goal of this thesis is to develop a hardware-in-the-loop simulation framework that connects real UAVs to OMNeT++ and Veins simulations, enabling the testing of large-scale networks like TSN or 5G.

Requirements

• Experience with C++, OMNeT++
• Understanding of real-time programming

Contact

• J. Bigge
• C. Sommer