The vision for the Micro Autonomous Systems Technologies MAST programis to develop autonomous, multifunctional,
collaborative ensembles of agile, mobile microsystems to enhance tactical situational awareness in urban
and complex terrain for small unit operations. Central to this vision is the ability to have multiple, heterogeneous
autonomous assets to function as a single cohesive unit, that is adaptable, responsive to human commands
and resilient to adversarial conditions. This paper represents an effort to develop a simulation environment for
studying control, sensing, communication, perception, and planning methodologies and algorithms.