HNMSim: A 3D multi-purpose hybrid networked multi-agent simulator

This paper presents a hybrid 3D simulator named HNMSim for networked multi-agent systems (MASs) based on USARSim (Unified system for automation and robot simulation), Unreal Engine, LabView, Matlab and OMNet++. We describe its general structure (hardware-in-the-loop software) and methodology (Socket connection, model creation and control design). By demonstrating its applications in several areas, this high fidelity simulator would be an excellent research and education tool for networked MASs.