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In recent decade, potential application of Unmanned Aerial Vehicles (UAV) hasenabled replacement of various operations in hard-to-access areas, such as,inspection, surveillance or search and rescue applications in challenging andcomplex environments. Furthermore, aerial robotics application with multi-agentsystems are anticipated to further extend its potential. However, one of themajor difficulties in aerial robotics applications is the testing of theelaborated system within safety concerns, especially when multiple agents aresimultaneously applied. Thus, virtual prototyping and simulation-baseddevelopment can serve in development, assessment and improvement of the aerialrobot applications. In this research, two examples of the specific applicationsare highlighted, harbor structure and facilities inspection with UAV, anddevelopment of autonomous positioning of multi-UAVs communication relayingsystem. In this research, virtual prototype was designed and further simulatedin multi-body simulation (MBS) feigning the sensing and actuating equipmentbehaviors. Simultaneous simulation of the control and application systemrunning with software in the loop (SITL) method is utilized to assess thedesigned hardware behavior with modular application nodes running in RobotOperating System. Furthermore, prepared simulation environment is assessed withmulti-agent system, proposed in previous research with autonomous positioncontrol of communication relaying system. Application of the virtualprototype's simulation environment enables further examination of the proposedsystem within comparison degree with postfield tests. The research aims tocontribute through case assessment of the design process to safer, time andcost-efficient development and application design in the field of aerialrobotics.

Aerial Robot Model based design and verification of the single and multi-agent inspection application development