AeroStack: C++20 Drone Swarm Simulator

A modular multi-drone autonomy simulator built with modern C++20. The project models a simplified autonomy stack for swarm mission execution:

• world model + obstacles
• global planning (A*)
• local collision avoidance (predictive safety check)
• mission manager + dynamic replanning
• simulation engine using std::jthread and std::stop_token
• event telemetry using std::variant

Architecture

/include/aerostack
  types.hpp
  world.hpp
  planning.hpp
  control.hpp
  mission_manager.hpp
  simulation_engine.hpp
  telemetry.hpp
/src
  world/
  planning/
  control/
  sim/
  telemetry/
  app/main.cpp
/tests
  test_core.cpp

Core robotics-style components

• World: continuous 2D space with circular obstacles and drone/mission state.
• AStarPlanner: global path planner on a discretized grid.
• PredictiveAvoidance: local collision avoidance by simulating near-term future trajectories.
• MissionManager: assigns random goals and replans if goals become unreachable.
• SimulationEngine: runs the control loop in a dedicated std::jthread with cooperative shutdown.
• TelemetryRecorder: records simulation events and can export JSONL logs.

Build

cmake -S . -B build
cmake --build build -j

Run simulator

./build/aerostack_sim

Run tests

ctest --test-dir build --output-on-failure

Current metrics emitted in final summary

• missions completed
• collision count
• telemetry event count

Next upgrades

• noisy GPS/IMU and Kalman filtering
• occupancy grid mapping
• battery-aware task allocation
• no-fly zones and wind disturbance model
• GUI frontend (raylib/SDL2/ImGui)