  This technical report describes GrADyS-SIM, a framework for simulating
cooperating swarms of UAVs in joint mission in hypothetical landscape and
communicating through RF radios. The framework was created to aid and verify
the communication, coordination and context-awareness protocols being developed
in the GrADyS project. GrADyS-SIM uses the OMNeT++ simulation library and its
INET model suite and and allows for addition of modified or customized versions
of some simulated components, network configurations and vehicle coordination,
so that new coordination protocols can be developed and tested through the
framework. The framework simulates UAV movement dictated by file containing
some MAVLink instructions and affected on the fly by different network
situations. The UAV swarm coordination protocol emerges from individual
interactions between UAVs and has the objective of optimizing the collection of
sensor data over an area. It also allows for the simulation of some types of
failures to test the protocol adaptability. Every node in the simulation is
highly configurable making testing different network opographies, coordination
protocols, node hardware configurations and more a quick task.
