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UNetyEmu Ecosystem: From Networked Simulation and UAV Planning Validation to ROS2 Integration

UNetyEmu is an extensible simulation framework designed to support realistic experimentation with heterogeneous aerial and ground vehicles in urban environments. It combines high-fidelity 3D simulation in Unity with real-time network emulation, enabling the evaluation of communication-aware algorithms and multi-vehicle coordination. Across its different branches, the framework has evolved to include scalable multi-vehicle experimentation, integration with ROS2 through standardized sensor interfaces, and physically-grounded drone dynamics. Additionally, UNetyEmu has been used as a validation platform for large-scale UAV preflight planning algorithms in dynamic and constrained airspaces.

This wiki organizes the different branches of the project, each corresponding to a specific research contribution and use case.

Branches | Documentation | Publications

• SBRC26 – UNetyEmuROS: A Unity-Based Multi-Vehicle Simulator with Physically-Grounded Dynamics and ROS2 Sensor Integration

  • Documentation

  • Repository: https://github.com/intrig-unicamp/UNetyEmu/

  • Submitted to the 44rd Brazilian Symposium on Computer Networks and Distributed Systems (SBRC 2026)

• AAMAS26 – Multi UAVs Preflight Planning in a Shared and Dynamic Airspace

  • Documentation

  • Repository: https://github.com/intrig-unicamp/UNetyEmu/tree/aamas26

  • Sow, A.; Rodriguez, M.; de Oliveira, F.; Wzorek, M.; de Leng, D.; Tiger, M.; Heintz, F.; Rothenberg, C. (2026). Multi UAVs Preflight Planning in a Shared and Dynamic Airspace. In Proceedings of the 25th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2026). Accepted for publication. Pre-print version: https://doi.org/10.48550/arXiv.2602.12055

• SIGCOMM25 – An Integrated Framework for Network Emulation and Multi-vehicle Algorithm Testing

  • Documentation

  • Repository: https://github.com/intrig-unicamp/UNetyEmu/tree/sigcomm25

  • Rodriguez, M.; Góes de Castro, A.; Fontes, R.; Rodriguez, F.; Rothenberg, C. (2025). An Integrated Framework for Network Emulation and Multi-vehicle Algorithm Testing. In Proceedings of the ACM SIGCOMM 2025 Posters and Demos (SIGCOMM ’25). DOI: https://doi.org/10.1145/3744969.3748436

• SBRC25 – UNetyEmu: Unity-based simulator for aerial and non-aerial vehicles with integrated network emulation

  • Documentation

  • Repository: https://github.com/intrig-unicamp/UNetyEmu/tree/sbrc25

  • Rodriguez Cesen, M.; Góes de Castro, A.; Santana, I.; Fontes, R. R.; R. Cesen, F.; Esteve Rothenberg, C. (2025). UNetyEmu: Unity-based simulator for aerial and non-aerial vehicles with integrated network emulation.In 43rd Brazilian Symposium on Computer Networks and Distributed Systems (SBRC 2025), Natal/RN, Brazil. DOI: https://doi.org/10.5753/sbrc_estendido.2025.7122