A UAV swarm is simulated using Horizon Simulation Framework. The asset utilized for the swarm agent is a simplified model of the MQ-1 Predator, a large fixed-wing aircraft. The simulated swarm utilizes a decentralized cooperative control approach to command the assets through the use of digital pheromones and a pheromone map. Each vehicle operates at steady-state flight conditions of 36 m/s with an altitude of 1,800 m, and utilize an LQR set-point controller to maneuver through the pheromone map. All pheromone and aircraft related models are written in Python to expand the HSF scripting capability and include airborne scenarios. The simulation study focuses in the variation of three parameters in the repelling pheromone model. The first two are the update and deposit parameters with values of 2, 10, and 18. The third is the threshold parameter with values of 1e-02, 1e-10, and 1e-18. The lower parameter values provide more time-on-target while the higher parameters allow the swarm to search the surrounding area by only visiting the grid-space once.

System design is an inherently expensive and time consuming process. Engineers are constantly tasked to investigate new solutions for various programs. Model-based systems engineering (MBSE) is an up and coming successful method used to reduce the time spent during the design process. By utilizing simulations, model-based systems engineering can verify high-level system requirements quickly and at low cost early in the design process. The Horizon Simulation Framework, or HSF, provides the capability of simulating a system and verifying the system performance. This paper outlines an improvement to the Horizon Simulation Framework by providing information to the user regarding schedule failures due to subsystem failures and constraint violations. Using the C# language, constraint violation rates and subsystem failure rates are organized by magnitude and written to .csv files. Also, proper subsystem failure and constraint violation checking orders were stored for HSF to use as new evaluation sequences. The functionalities of the systemEval framework were verified by five test cases. The output information can be used for the user to improve their system and possibly reduce the total run-time of the Horizon Simulation Framework.