{"id":"https://openalex.org/W7127367429","doi":"https://doi.org/10.48550/arxiv.2602.01226","title":"SkySim: A ROS2-based Simulation Environment for Natural Language Control of Drone Swarms using Large Language Models","display_name":"SkySim: A ROS2-based Simulation Environment for Natural Language Control of Drone Swarms using Large Language Models","publication_year":2026,"publication_date":"2026-02-01","ids":{"openalex":"https://openalex.org/W7127367429","doi":"https://doi.org/10.48550/arxiv.2602.01226"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2602.01226","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.01226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2602.01226","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120372499","display_name":"Aditya Shibu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shibu, Aditya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124887101","display_name":"Marah Saleh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Saleh, Marah","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124883219","display_name":"Mohamed Al-Musleh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Al-Musleh, Mohamed","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5002768772","display_name":"Nidhal Abdulaziz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abdulaziz, Nidhal","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.26739999651908875,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.26739999651908875,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.2037999927997589,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.10890000313520432,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7709000110626221},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.5460000038146973},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.5105000138282776},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4406999945640564},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.43849998712539673},{"id":"https://openalex.org/keywords/natural-language-understanding","display_name":"Natural language understanding","score":0.4259999990463257},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4171000123023987},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4124000072479248},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3790999948978424}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7709000110626221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6780999898910522},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.5460000038146973},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.5105000138282776},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4406999945640564},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.43849998712539673},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.4259999990463257},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4171000123023987},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4124000072479248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4075999855995178},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38100001215934753},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3790999948978424},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3287000060081482},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.31349998712539673},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31200000643730164},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.30979999899864197},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.29010000824928284},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.28060001134872437},{"id":"https://openalex.org/C179603123","wikidata":"https://www.wikidata.org/wiki/Q1941921","display_name":"Modeling language","level":3,"score":0.2775000035762787},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2709999978542328},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.26080000400543213},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.25920000672340393},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25600001215934753},{"id":"https://openalex.org/C19024347","wikidata":"https://www.wikidata.org/wiki/Q211496","display_name":"High-level programming language","level":3,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2602.01226","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.01226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.01226","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.01226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.6808401942253113,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicle":[2],"(UAV)":[3],"swarms":[4,110],"offer":[5],"versatile":[6],"applications":[7],"in":[8,54],"logistics,":[9],"agriculture,":[10],"and":[11,21,100,114,130],"surveillance,":[12],"yet":[13],"controlling":[14],"them":[15],"requires":[16],"expert":[17],"knowledge":[18],"for":[19,95,145],"safety":[20,63,90,144],"feasibility.":[22],"Traditional":[23],"static":[24],"methods":[25],"limit":[26],"adaptability,":[27],"while":[28],"Large":[29],"Language":[30],"Models":[31],"(LLMs)":[32],"enable":[33],"natural":[34],"language":[35],"control":[36],"but":[37],"generate":[38],"unsafe":[39],"trajectories":[40],"due":[41],"to":[42,135],"lacking":[43],"physical":[44],"grounding.":[45],"This":[46],"paper":[47],"introduces":[48],"SkySim,":[49],"a":[50,75],"ROS2-based":[51],"simulation":[52],"framework":[53],"Gazebo":[55],"that":[56],"decouples":[57],"LLM":[58],"high-level":[59],"planning":[60],"from":[61],"low-level":[62],"enforcement.":[64],"Using":[65],"Gemini":[66],"3.5":[67],"Pro,":[68],"SkySim":[69,132],"translates":[70],"user":[71],"commands":[72],"(e.g.,":[73],"\"Form":[74],"circle\")":[76],"into":[77],"spatial":[78,119],"waypoints,":[79],"informed":[80],"by":[81],"real-time":[82,127],"drone":[83],"states.":[84],"An":[85],"Artificial":[86],"Potential":[87],"Field":[88],"(APF)":[89],"filter":[91],"applies":[92],"minimal":[93],"adjustments":[94],"collision":[96,128],"avoidance,":[97],"kinematic":[98],"limits,":[99],"geo-fencing,":[101],"ensuring":[102],"feasible":[103],"execution":[104],"at":[105],"20":[106],"Hz.":[107],"Experiments":[108],"with":[109,142],"of":[111],"3,":[112],"10,":[113],"30":[115],"Crazyflie":[116],"drones":[117],"validate":[118],"reasoning":[120],"accuracy":[121],"(100%":[122],"across":[123],"tested":[124],"geometric":[125],"primitives),":[126],"prevention,":[129],"scalability.":[131],"empowers":[133],"non-experts":[134],"iteratively":[136],"refine":[137],"behaviors,":[138],"bridging":[139],"AI":[140],"cognition":[141],"robotic":[143],"dynamic":[146],"environments.":[147],"Future":[148],"work":[149],"targets":[150],"hardware":[151],"integration.":[152]},"counts_by_year":[],"updated_date":"2026-08-16T07:02:28.622633","created_date":"2026-02-04T00:00:00"}
