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Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broadrange of applications requiring extensive communications, either tointerconnect the UAVs with each other or with ground resources. Focusing eitheron the modeling of UAV operations or communication and network dynamics,available simulation tools fail to capture the complex interdependenciesbetween these two aspects of the problem. The main contribution of this paperis a flexible and scalable open source simulator -- FlyNetSim -- bridging thetwo domains. The overall objective is to enable simulation and evaluation ofUAV swarms operating within articulated multi-layered technological ecosystems,such as the Urban Internet of Things (IoT). To this aim, FlyNetSim interfacestwo open source tools, ArduPilot and ns-3, creating individual data pathsbetween the devices operating in the system using a publish and subscribe-basedmiddleware. The capabilities of FlyNetSim are illustrated through severalcase-study scenarios including UAVs interconnecting with a multi-technologycommunication infrastructure and intra-swarm ad-hoc communications.

FlyNetSim: An Open Source Synchronized UAV Network Simulator based on ns-3 and Ardupilot