  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.
