• INTO-CPS
• drone
• unmanned aerial vehicle
• Voronoi tessellation
• space-coverage algorithm
• co-simulation

The development of applications for Multiple Unmanned Aerial Vehicle (UAV) systems requires complex control and communication mechanisms, and advanced co-ordination strategies.
In this thesis, a Voronoi tessellation is used to develop a model to manage and arrange uniformly a UAV swarm that includes the drones' dynamics.
A space-coverage algorithm is implemented for the co-ordination of a variable number of drones inside a convex polygonal bounded area, first dividing the polygon according to the Voronoi method and then moving the UAV swarm exploiting the notion of centre of mass (centroid) of the regions mapped out by the Voronoi diagram. Iterating this procedure the UAV swarm will be evenly distributed inside the bounded area.
A tool-chain for the modelling and simulation of cyber-physical systems is applied to analyse different architectural solutions for communications, specifically a centralised and a distributed one, and to validate the stability of the system, introducing delays in computations and communications between components of the model, and taking into account the physical dynamics of the drones. The implemented algorithm has been validated in different scenarios in the case of quadcopters.