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During the last decade, Unmanned Aerial Vehicles (UAVs) gained wide attention and are integrated into diverse systems and deployed into many contexts. The need to assess the UAVs’ performances, impacts of applications, routing protocols, mobility as well as other features in a network is necessary. However, conducting real experiments within UAV-based systems and particularly with multi-UAV-based systems can be extremely costly and complex. To fill this gap simulators, emulators, and frameworks are used to evaluate the performance and viability of UAV-based systems with lower cost and in a short period. Accordingly, researchers and software engineers developed several simulators and co-simulators dedicated to the performance evaluations of UAV-based systems. In this regard, this investigation highlights and identifies the most suitable simulators, co-simulators, emulators, and frameworks for UAV flights and management. Both the tools dedicated to mono-UAV-based systems and the tools dedicated to multi-UAV-based systems are pinpointed. In this paper, the goals, the requirements, the strengths, and the limitations of each studied tool are detailed. Besides that, a UAV simulators catalog is provided. It includes guidelines that will be useful for researchers and help them to identify and to select the adequate tools for UAVs performance analysis that meet their needs.

Simulation tools, environments and frameworks for UAVs and multi-UAV-based systems performance analysis (version 2.0)