Cooperative Localization for Multi-UAV 

Referenced in Davis' M.S. thesis, "Applying Cooperative Localization to Swarm UAVs using an Extended Kalman Filter"

A Modular Framework for Swarm Search Simulation Modeling and Analysis 

Referenced in Wanier's M.S. thesis, "A Modular Framework for Assessing Swarm Search Models"

Agent-based Simulation of Swarm Tactics

Swarm versus Swarm Scenario

Referenced in Uwe Gaertner's M.S. thesis, "UAV Swarm Tactics: An Agent-based Simulation and Markov Process Analysis"

Other Software

Interesting Links