diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp
index f649e09249..a3650b4f5a 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp
@@ -19,10 +19,10 @@ bool (*SetSegmentationObjectId)(const char* meshName, int objectId, bool isNameR
 int (*GetSegmentationObjectId)(const char* meshName);
 bool (*PrintLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity);
 UnityTransform (*GetTransformFromUnity)(const char* vehicleName);
-bool (*Reset)(const char* vehicleName);
+bool (*Reset)();
 AirSimVector (*GetVelocity)(const char* vehicleName);
 RayCastHitResult (*GetRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName);
-bool (*Pause)(const char* vehicleName, float timeScale);
+bool (*Pause)(float timeScale);
 
 void InitVehicleManager(
     bool (*setPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName),
@@ -43,10 +43,10 @@ void InitVehicleManager(
     int (*getSegmentationObjectId)(const char* meshName),
     bool (*printLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity),
     UnityTransform (*getTransformFromUnity)(const char* vehicleName),
-    bool (*reset)(const char* vehicleName),
+    bool (*reset)(),
     AirSimVector (*getVelocity)(const char* vehicleName),
     RayCastHitResult (*getRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName),
-    bool (*pause)(const char* vehicleName, float timeScale))
+    bool (*pause)(float timeScale))
 {
     SetPose = setPose;
     GetPose = getPose;
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h
index 79f84d5c8a..ff18da1cfe 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h
@@ -32,10 +32,10 @@ extern bool (*SetSegmentationObjectId)(const char* meshName, int objectId, bool
 extern int (*GetSegmentationObjectId)(const char* meshName);
 extern bool (*PrintLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity);
 extern UnityTransform (*GetTransformFromUnity)(const char* vehicleName);
-extern bool (*Reset)(const char* vehicleName);
+extern bool (*Reset)();
 extern AirSimVector (*GetVelocity)(const char* vehicleName);
 extern RayCastHitResult (*GetRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName);
-extern bool (*Pause)(const char* vehicleName, float timeScale);
+extern bool (*Pause)(float timeScale);
 
 // PInvoke call to initialize the function pointers. This function is called from Unity.
 
@@ -58,7 +58,7 @@ extern "C" EXPORT void InitVehicleManager(
     int (*getSegmentationObjectId)(const char* meshName),
     bool (*printLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity),
     UnityTransform (*getTransformFromUnity)(const char* vehicleName),
-    bool (*reset)(const char* vehicleName),
+    bool (*reset)(),
     AirSimVector (*getVelocity)(const char* vehicleName),
     RayCastHitResult (*getRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName),
-    bool (*pause)(const char* vehicleName, float timeScale));
+    bool (*pause)(float timeScale));
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp
index 7e679794d0..3e3e46d4f4 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp
@@ -3,8 +3,8 @@
 #include "../Vehicles/Car/SimModeCar.h"
 #include "../Vehicles/Multirotor/SimModeWorldMultiRotor.h"
 
-SimHUD::SimHUD(std::string vehicle_name, std::string sim_mode_name, int port_number)
-    : vehicle_name_(vehicle_name), sim_mode_name_(sim_mode_name), port_number_(port_number)
+SimHUD::SimHUD(std::string sim_mode_name, int port_number)
+    : sim_mode_name_(sim_mode_name), port_number_(port_number)
 {
     server_started_Successfully_ = false;
 }
@@ -20,7 +20,7 @@ void SimHUD::BeginPlay()
         server_started_Successfully_ = true;
     }
     catch (std::exception& ex) {
-        PrintLogMessage("Error at startup: ", ex.what(), vehicle_name_.c_str(), ErrorLogSeverity::Error);
+        PrintLogMessage("Error at startup: ", ex.what(), "", ErrorLogSeverity::Error);
     }
 }
 
@@ -75,10 +75,10 @@ void SimHUD::initializeSettings()
     AirSimSettings::singleton().load(std::bind(&SimHUD::getSimModeFromUser, this));
 
     for (const auto& warning : AirSimSettings::singleton().warning_messages) {
-        PrintLogMessage(warning.c_str(), "LogDebugLevel::Failure", vehicle_name_.c_str(), ErrorLogSeverity::Error);
+        PrintLogMessage(warning.c_str(), "LogDebugLevel::Failure", "", ErrorLogSeverity::Error);
     }
     for (const auto& error : AirSimSettings::singleton().error_messages) {
-        PrintLogMessage(error.c_str(), "settings.json", vehicle_name_.c_str(), ErrorLogSeverity::Error);
+        PrintLogMessage(error.c_str(), "settings.json", "", ErrorLogSeverity::Error);
     }
 }
 
@@ -107,9 +107,9 @@ void SimHUD::createSimMode()
     std::string simmode_name = AirSimSettings::singleton().simmode_name;
 
     if (simmode_name == "Multirotor")
-        simmode_ = new SimModeWorldMultiRotor(vehicle_name_, port_number_);
+        simmode_ = new SimModeWorldMultiRotor(port_number_);
     else if (simmode_name == "Car")
-        simmode_ = new SimModeCar(vehicle_name_, port_number_);
+        simmode_ = new SimModeCar(port_number_);
 
     simmode_->BeginPlay();
 }
@@ -134,11 +134,11 @@ bool SimHUD::readSettingsTextFromFile(std::string settingsFilepath, std::string&
         std::stringstream buffer;
         buffer << file.rdbuf();
         settingsText = buffer.str();
-        PrintLogMessage("Loaded settings from ", settingsFilepath.c_str(), vehicle_name_.c_str(), ErrorLogSeverity::Information);
+        PrintLogMessage("Loaded settings from ", settingsFilepath.c_str(), "", ErrorLogSeverity::Information);
         return true;
     }
     else {
-        PrintLogMessage("Cannot read settings file ", settingsFilepath.c_str(), vehicle_name_.c_str(), ErrorLogSeverity::Error);
+        PrintLogMessage("Cannot read settings file ", settingsFilepath.c_str(), "", ErrorLogSeverity::Error);
     }
     return false;
 }
\ No newline at end of file
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h
index 0901ee57d4..b6178273ae 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h
@@ -18,7 +18,7 @@ class SimHUD
     std::string getSimModeFromUser();
 
 public:
-    SimHUD(std::string vehicle_name, std::string sime_mode_name, int port_number);
+    SimHUD(std::string sime_mode_name, int port_number);
     SimModeBase* GetSimMode();
     ImageType getSubwindowCameraType(int window_index);
     void setSubwindowCameraType(int window_index, ImageType type);
@@ -31,7 +31,6 @@ class SimHUD
 private:
     typedef common_utils::Utils Utils;
     SimModeBase* simmode_;
-    std::string vehicle_name_;
     std::string sim_mode_name_;
     int port_number_;
 
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp
index 6cd9b4340e..4d1b597d48 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp
@@ -5,8 +5,8 @@
 #include "../PInvokeWrapper.h"
 #include "../WorldSimApi.h"
 
-SimModeBase::SimModeBase(std::string vehicle_name, int port_number)
-    : vehicle_name_(vehicle_name), port_number_(port_number)
+SimModeBase::SimModeBase(int port_number)
+    : port_number_(port_number)
 {
 }
 
@@ -15,7 +15,7 @@ void SimModeBase::BeginPlay()
     debug_reporter_.initialize(false);
     debug_reporter_.reset();
     global_ned_transform_.reset(new NedTransform(GetVehicleStartTransform()));
-    world_sim_api_.reset(new WorldSimApi(this, vehicle_name_));
+    world_sim_api_.reset(new WorldSimApi(this));
     api_provider_.reset(new msr::airlib::ApiProvider(world_sim_api_.get()));
     setupClockSpeed();
     record_tick_count = 0;
@@ -24,7 +24,8 @@ void SimModeBase::BeginPlay()
 
 void SimModeBase::Tick(float DeltaSeconds)
 {
-    getVehicleSimApi(vehicle_name_)->pawnTick(DeltaSeconds);
+    for (auto& api : getApiProvider()->getVehicleSimApis())
+        static_cast<PawnSimApi*>(api)->pawnTick(DeltaSeconds);
     showClockStats();
     updateDebugReport(debug_reporter_);
 }
@@ -35,7 +36,7 @@ void SimModeBase::showClockStats()
     if (clock_speed != 1) {
         PrintLogMessage("ClockSpeed config, actual: ",
                         Utils::stringf("%f, %f", clock_speed, ClockFactory::get()->getTrueScaleWrtWallClock()).c_str(),
-                        vehicle_name_.c_str(),
+                        "",
                         ErrorLogSeverity::Information);
     }
 }
@@ -153,14 +154,14 @@ void SimModeBase::startApiServer()
         api_server_ = createApiServer();
 #endif
         try {
-            api_server_->start(false, 4); //TODO: set thread for vehicle count
+            api_server_->start(false, vehicle_sim_apis_.size() + 4); //TODO: set thread for vehicle count
         }
         catch (std::exception& ex) {
-            PrintLogMessage("Cannot start RpcLib Server", ex.what(), vehicle_name_.c_str(), ErrorLogSeverity::Error);
+            PrintLogMessage("Cannot start RpcLib Server", ex.what(), "", ErrorLogSeverity::Error);
         }
     }
     else
-        PrintLogMessage("API server is disabled in settings", "", vehicle_name_.c_str(), ErrorLogSeverity::Information);
+        PrintLogMessage("API server is disabled in settings", "", "", ErrorLogSeverity::Information);
 }
 void SimModeBase::stopApiServer()
 {
@@ -206,30 +207,35 @@ void SimModeBase::setupVehiclesAndCamera()
 {
     //determine camera director camera default pose and spawn it
     const auto& camera_director_setting = getSettings().camera_director;
-    UnityPawn* vehicle_pawn = GetVehiclePawn();
-    const auto& home_geopoint = msr::airlib::EarthUtils::nedToGeodetic(GetVehiclePosition(), getSettings().origin_geopoint);
+    for (auto const& vehicle_setting_pair : getSettings().vehicles) {
+        const auto& vehicle_setting = *vehicle_setting_pair.second;
+        const std::string& vehicle_name = vehicle_setting.vehicle_name;
 
-    PawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(), home_geopoint, vehicle_name_);
-    auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params);
-    auto vehicle_sim_api_p = vehicle_sim_api.get();
-    auto vehicle_Api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p);
+        UnityPawn* vehicle_pawn = GetVehiclePawn(vehicle_name);
+        const auto& home_geopoint = msr::airlib::EarthUtils::nedToGeodetic(GetVehiclePosition(vehicle_name), getSettings().origin_geopoint);
 
-    getApiProvider()->insert_or_assign(vehicle_name_, vehicle_Api, vehicle_sim_api_p);
+        PawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(), home_geopoint, vehicle_name);
+        auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params);
+        auto vehicle_sim_api_p = vehicle_sim_api.get();
+        auto vehicle_api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p);
 
-    if ((!getApiProvider()->hasDefaultVehicle()) && vehicle_name_ != "") {
-        getApiProvider()->makeDefaultVehicle(vehicle_name_);
+        getApiProvider()->insert_or_assign(vehicle_name, vehicle_api, vehicle_sim_api_p);
+
+        if ((!getApiProvider()->hasDefaultVehicle()) && vehicle_name != "")
+            getApiProvider()->makeDefaultVehicle(vehicle_name);
+
+        vehicle_sim_apis_.push_back(std::move(vehicle_sim_api));
     }
-    vehicle_sim_apis_.push_back(std::move(vehicle_sim_api));
 }
 
-const msr::airlib::Vector3r SimModeBase::GetVehiclePosition()
+const msr::airlib::Vector3r SimModeBase::GetVehiclePosition(const std::string& vehicle_name)
 {
-    AirSimPose airSimPose = GetPose(vehicle_name_.c_str());
+    AirSimPose airSimPose = GetPose(vehicle_name.c_str());
     msr::airlib::Vector3r vehiclePosition(airSimPose.position.x, airSimPose.position.y, airSimPose.position.z);
     return vehiclePosition;
 }
 
-UnityPawn* SimModeBase::GetVehiclePawn()
+UnityPawn* SimModeBase::GetVehiclePawn(const std::string& vehicle_name)
 {
     return nullptr;
 }
@@ -258,6 +264,7 @@ msr::airlib::VehicleApiBase* SimModeBase::getVehicleApi(const PawnSimApi::Params
 
 UnityTransform SimModeBase::GetVehicleStartTransform()
 {
-    UnityTransform unityTransform = GetTransformFromUnity(vehicle_name_.c_str());
+    //can we just take origin in Unity here?
+    UnityTransform unityTransform;
     return unityTransform;
 }
\ No newline at end of file
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h
index 0ccdc3e6d1..90bf6b73f3 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h
@@ -21,7 +21,7 @@ class SimModeBase
     typedef msr::airlib::AirSimSettings AirSimSettings;
 
 private:
-    const msr::airlib::Vector3r GetVehiclePosition();
+    const msr::airlib::Vector3r GetVehiclePosition(const std::string& vehicle_name);
     UnityTransform GetVehicleStartTransform();
     void showClockStats();
 
@@ -30,14 +30,14 @@ class SimModeBase
     virtual bool isVehicleTypeSupported(const std::string& vehicle_type) const;
     virtual std::unique_ptr<PawnSimApi> createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const;
     virtual msr::airlib::VehicleApiBase* getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, const PawnSimApi* sim_api) const;
-    virtual UnityPawn* GetVehiclePawn();
+    virtual UnityPawn* GetVehiclePawn(const std::string& vehicle_name);
     virtual void setupVehiclesAndCamera();
     virtual void setupClockSpeed(); //called when SimMode should handle clock speed setting
     virtual void updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter);
     virtual const msr::airlib::AirSimSettings& getSettings() const;
 
 public:
-    SimModeBase(std::string vehicle_name, int port_number);
+    SimModeBase(int port_number);
     virtual void BeginPlay();
     virtual void EndPlay();
     virtual void Tick(float DeltaSeconds) = 0;
@@ -85,7 +85,6 @@ class SimModeBase
     int record_tick_count;
 
 public:
-    std::string vehicle_name_;
     int port_number_;
     bool EnableReport = false;
 };
\ No newline at end of file
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp
index 2ba1e5a382..b205478575 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp
@@ -2,8 +2,8 @@
 #include "SimModeWorldBase.h"
 #include "../PInvokeWrapper.h"
 
-SimModeWorldBase::SimModeWorldBase(std::string multiRotorName, int port_number)
-    : SimModeBase(multiRotorName, port_number)
+SimModeWorldBase::SimModeWorldBase(int port_number)
+    : SimModeBase(port_number)
 {
 }
 
@@ -70,7 +70,7 @@ std::unique_ptr<SimModeWorldBase::PhysicsEngineBase> SimModeWorldBase::createPhy
     }
     else {
         physics_engine.reset();
-        PrintLogMessage("Unrecognized physics engine name: ", physics_engine_name.c_str(), vehicle_name_.c_str(), ErrorLogSeverity::Warnning);
+        PrintLogMessage("Unrecognized physics engine name: ", physics_engine_name.c_str(), "", ErrorLogSeverity::Warnning);
     }
     return physics_engine;
 }
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h
index 86edbb9535..202426088c 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h
@@ -26,7 +26,7 @@ class SimModeWorldBase : public SimModeBase
     void initializeForPlay();
 
 public:
-    SimModeWorldBase(std::string multiRotorName, int port_number);
+    SimModeWorldBase(int port_number);
     virtual void BeginPlay() override;
     virtual void EndPlay() override;
     virtual void Tick(float DeltaSeconds) override;
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp
index 2d6c2f830f..2ce52a46c8 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp
@@ -1,7 +1,7 @@
 #include "UnityToAirSimCalls.h"
 
-void StartServerThread(std::string vehicle_name, std::string sim_mode_name, int port_number)
+void StartServerThread(std::string sim_mode_name, int port_number)
 {
-    key = new SimHUD(vehicle_name, sim_mode_name, port_number);
+    key = new SimHUD(sim_mode_name, port_number);
     key->BeginPlay();
 }
\ No newline at end of file
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h
index 6f3c3951ee..d34f0e9eed 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h
@@ -13,12 +13,12 @@
 
 static SimHUD* key = nullptr;
 
-void StartServerThread(std::string vehicle_name, std::string sim_mode_name, int port_number);
+void StartServerThread(std::string sim_mode_name, int port_number);
 
-extern "C" EXPORT bool StartServer(char* vehicle_name, char* sim_mode_name, int port_number)
+extern "C" EXPORT bool StartServer(char* sim_mode_name, int port_number)
 {
     LOGGER->WriteLog("Starting server for : " + std::string(sim_mode_name));
-    std::thread server_thread(StartServerThread, vehicle_name, sim_mode_name, port_number);
+    std::thread server_thread(StartServerThread, sim_mode_name, port_number);
     server_thread.detach();
     int waitCounter = 25; // waiting for maximum 5 seconds to start a server.
     while ((key == nullptr || !key->server_started_Successfully_) && waitCounter > 0) {
@@ -28,7 +28,7 @@ extern "C" EXPORT bool StartServer(char* vehicle_name, char* sim_mode_name, int
     return key->server_started_Successfully_;
 }
 
-extern "C" EXPORT void StopServer(char* vehicle_name)
+extern "C" EXPORT void StopServer()
 {
     key->EndPlay();
     if (key != nullptr) {
@@ -43,11 +43,11 @@ extern "C" EXPORT void CallTick(float deltaSeconds)
     key->Tick(deltaSeconds);
 }
 
-extern "C" EXPORT void InvokeCollisionDetection(AirSimUnity::AirSimCollisionInfo collision_info)
+extern "C" EXPORT void InvokeCollisionDetection(char* vehicle_name, AirSimUnity::AirSimCollisionInfo collision_info)
 {
     auto simMode = key->GetSimMode();
     if (simMode) {
-        auto vehicleApi = simMode->getVehicleSimApi(simMode->vehicle_name_);
+        auto vehicleApi = simMode->getVehicleSimApi(vehicle_name);
         if (vehicleApi) {
             msr::airlib::CollisionInfo collisionInfo = UnityUtilities::Convert_to_AirSimCollisioinInfo(collision_info);
             vehicleApi->OnCollision(collisionInfo);
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp
index 2bdaba78d7..c2188e408f 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp
@@ -158,7 +158,7 @@ void CarPawnSimApi::updateCarControls()
 void CarPawnSimApi::resetImplementation()
 {
     setPose(UnityUtilities::Convert_to_Pose(GetInitialPose()), false);
-    Reset(getVehicleName().c_str());
+    Reset();
 
     PawnSimApi::resetImplementation();
     pawn_api_->reset();
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp
index 1a1a8469be..391253ef51 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp
@@ -5,8 +5,8 @@
 #include "vehicles/car/api/CarRpcLibServer.hpp"
 #include "../../PInvokeWrapper.h"
 
-SimModeCar::SimModeCar(std::string car_name, int port_number)
-    : SimModeBase(car_name, port_number)
+SimModeCar::SimModeCar(int port_number)
+    : SimModeBase(port_number)
 {
 }
 
@@ -35,7 +35,7 @@ void SimModeCar::pause(bool is_paused)
     else
         current_clockspeed_ = getSettings().clock_speed;
 
-    Pause(vehicle_name_.c_str(), current_clockspeed_);
+    Pause(current_clockspeed_);
 }
 
 void SimModeCar::continueForTime(double seconds)
@@ -81,14 +81,15 @@ bool SimModeCar::isVehicleTypeSupported(const std::string& vehicle_type) const
     return vehicle_type == AirSimSettings::kVehicleTypePhysXCar;
 }
 
-UnityPawn* SimModeCar::GetVehiclePawn()
+UnityPawn* SimModeCar::GetVehiclePawn(const std::string& vehicle_name)
 {
-    return new CarPawn(vehicle_name_);
+    return new CarPawn(vehicle_name);
 }
 
 std::unique_ptr<PawnSimApi> SimModeCar::createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const
 {
-    auto vehicle_sim_api = std::unique_ptr<PawnSimApi>(new CarPawnSimApi(pawn_sim_api_params, vehicle_name_));
+    auto vehicle_sim_api = std::unique_ptr<PawnSimApi>(new CarPawnSimApi(pawn_sim_api_params,
+                                                                         pawn_sim_api_params.vehicle_name));
     vehicle_sim_api->initialize();
     vehicle_sim_api->reset();
     return vehicle_sim_api;
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h
index 90abd180a1..89d27c5193 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h
@@ -28,13 +28,13 @@ class SimModeCar : public SimModeBase
                                                        const PawnSimApi* sim_api) const override;
 
 public:
-    SimModeCar(std::string car_name, int port_number);
+    SimModeCar(int port_number);
     virtual void BeginPlay() override;
     virtual void Tick(float DeltaSeconds) override;
     virtual bool isPaused() const override;
     virtual void pause(bool is_paused) override;
     virtual void continueForTime(double seconds) override;
-    virtual UnityPawn* GetVehiclePawn() override;
+    virtual UnityPawn* GetVehiclePawn(const std::string& vehicle_name) override;
 
 private:
     std::atomic<float> current_clockspeed_;
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp
index 13a9e62167..3f5bca8b86 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp
@@ -3,8 +3,8 @@
 #include "MultirotorPawnSimApi.h"
 #include "vehicles/multirotor/api/MultirotorRpcLibServer.hpp"
 
-SimModeWorldMultiRotor::SimModeWorldMultiRotor(std::string multiRotorName, int port_number)
-    : SimModeWorldBase(multiRotorName, port_number)
+SimModeWorldMultiRotor::SimModeWorldMultiRotor(int port_number)
+    : SimModeWorldBase(port_number)
 {
 }
 
@@ -28,9 +28,9 @@ void SimModeWorldMultiRotor::EndPlay()
     SimModeWorldBase::EndPlay();
 }
 
-UnityPawn* SimModeWorldMultiRotor::GetVehiclePawn()
+UnityPawn* SimModeWorldMultiRotor::GetVehiclePawn(const std::string& vehicle_name)
 {
-    return new FlyingPawn(vehicle_name_);
+    return new FlyingPawn(vehicle_name);
 }
 
 void SimModeWorldMultiRotor::setupClockSpeed()
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h
index 155e1bdd6d..672e8a3805 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h
@@ -15,11 +15,11 @@ class SimModeWorldMultiRotor : public SimModeWorldBase
                                                        const PawnSimApi* sim_api) const override;
 
 public:
-    SimModeWorldMultiRotor(std::string multi_rotor_name, int port_number);
+    SimModeWorldMultiRotor(int port_number);
     virtual void BeginPlay() override;
     virtual void EndPlay() override;
     void Tick(float DeltaSeconds) override;
-    UnityPawn* GetVehiclePawn() override;
+    UnityPawn* GetVehiclePawn(const std::string& vehicle_name) override;
 
 private:
     typedef FlyingPawn TVehiclePawn;
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp
index 66a7e021b3..eb914793cb 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp
@@ -3,8 +3,8 @@
 #include "PInvokeWrapper.h"
 #include "UnityUtilities.hpp"
 
-WorldSimApi::WorldSimApi(SimModeBase* simmode, std::string vehicle_name)
-    : simmode_(simmode), vehicle_name_(vehicle_name)
+WorldSimApi::WorldSimApi(SimModeBase* simmode)
+    : simmode_(simmode)
 {
 }
 
@@ -55,7 +55,7 @@ int WorldSimApi::getSegmentationObjectID(const std::string& mesh_name) const
 
 void WorldSimApi::printLogMessage(const std::string& message, const std::string& message_param, unsigned char severity)
 {
-    PrintLogMessage(message.c_str(), message_param.c_str(), vehicle_name_.c_str(), severity);
+    PrintLogMessage(message.c_str(), message_param.c_str(), "", severity);
 }
 
 std::unique_ptr<std::vector<std::string>> WorldSimApi::swapTextures(const std::string& tag, int tex_id, int component_id, int material_id)
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
index 02f7b64881..ce38549448 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
@@ -13,7 +13,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     typedef msr::airlib::ImageCaptureBase ImageCaptureBase;
     typedef msr::airlib::CameraDetails CameraDetails;
 
-    WorldSimApi(SimModeBase* simmode, std::string vehicle_name);
+    WorldSimApi(SimModeBase* simmode);
     virtual ~WorldSimApi();
 
     // ------ Level setting apis ----- //
@@ -92,5 +92,4 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
 
 private:
     SimModeBase* simmode_;
-    std::string vehicle_name_;
 };
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs
new file mode 100644
index 0000000000..7c6148a646
--- /dev/null
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs
@@ -0,0 +1,37 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+using System;
+using AirSimUnity.DroneStructs;
+using System.Threading;
+using UnityEditor;
+
+namespace AirSimUnity
+{
+    public class AirSimServer : MonoBehaviour
+    {
+        private const string DRONE_MODE = "Multirotor";
+
+        // Start is called before the first frame update
+        void Start()
+        {
+            string simMode = AirSimSettings.GetSettings().SimMode;
+            int basePortId = AirSimSettings.GetSettings().GetPortIDForVehicle(simMode == DRONE_MODE);
+            bool isServerStarted = PInvokeWrapper.StartServer(simMode, basePortId);
+            if (isServerStarted == false)
+            {
+#if UNITY_EDITOR
+                EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit");
+#else
+                Application.Quit();
+#endif
+            }
+        }
+
+        protected void OnApplicationQuit()
+        {
+            PInvokeWrapper.StopServer();
+        }
+    }
+}
\ No newline at end of file
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs.meta b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs.meta
new file mode 100644
index 0000000000..0d8a36d9ac
--- /dev/null
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ca72950c6b9a95848b5b1bee27e51ff8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 100
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimSettings.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimSettings.cs
index 2b27df650e..7eb73d0bde 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimSettings.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimSettings.cs
@@ -149,6 +149,8 @@ public struct PX4Settings {
         private static AirSimSettings settings = null;
 
         public static AirSimSettings GetSettings() {
+            if (settings == null)
+                Initialize();
             return settings;
         }
 
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs
new file mode 100644
index 0000000000..987738054e
--- /dev/null
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs
@@ -0,0 +1,14 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace AirSimUnity
+{
+    public class AirSimTick : MonoBehaviour
+    {
+        void FixedUpdate()
+        {
+            PInvokeWrapper.CallTick(Time.fixedDeltaTime);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs.meta b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs.meta
new file mode 100644
index 0000000000..94e97d4437
--- /dev/null
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9cc58e6de68c02747a4aa12440551a3b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: -50
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs
index 60fd57dbf4..d4f8e410b2 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs
@@ -27,15 +27,15 @@ public static extern void InitVehicleManager(IntPtr SetPose, IntPtr GetPose, Int
         public static extern void StopDroneServer(string vehicleName);
 
         [DllImport(DLL_NAME)]
-        public static extern bool StartServer(string vehicleName, string simModeName, int portNumber);
+        public static extern bool StartServer(string simModeName, int portNumber);
 
         [DllImport(DLL_NAME)]
-        public static extern void StopServer(string vehicleName);
+        public static extern void StopServer();
 
         [DllImport(DLL_NAME)]
         public static extern void CallTick(float deltaSeconds);
 
         [DllImport(DLL_NAME)]
-        public static extern void InvokeCollisionDetection(CollisionInfo collisionInfo);
+        public static extern void InvokeCollisionDetection(string vehicleName, CollisionInfo collisionInfo);
     }
 }
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IAirSimInterface.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IAirSimInterface.cs
index ce38757bd5..49514de4de 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IAirSimInterface.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IAirSimInterface.cs
@@ -6,14 +6,10 @@ namespace AirSimUnity
      */
     public interface IAirSimInterface
     {
-        bool StartVehicleServer(string hostIP);
-
-        void StopVehicleServer();
-
         KinemticState GetKinematicState();
 
         void InvokeTickInAirSim(float deltaSecond);
 
-        void InvokeCollisionDetectionInAirSim(CollisionInfo collisionInfo);
+        void InvokeCollisionDetectionInAirSim(string vehicleName, CollisionInfo collisionInfo);
     }
 }
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Multirotor/Drone.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Multirotor/Drone.cs
index c7ede644ef..463da9a21e 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Multirotor/Drone.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Multirotor/Drone.cs
@@ -41,6 +41,8 @@ public class Drone : Vehicle {
                 transform.position = position;
                 transform.rotation = rotation;
 
+                currentPose = poseFromAirLib;
+
                 for (int i = 0; i < rotors.Length; i++)
                 {
                     float rotorSpeed = (float) (rotorInfos[i].rotorSpeed * rotorInfos[i].rotorDirection * 180 /
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs
index 65f49a0e58..0f548b2c7b 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs
@@ -46,6 +46,8 @@ public abstract class Vehicle : MonoBehaviour, IVehicleInterface {
         RaycastHit hitInfo;
         bool hitResult;
 
+        [SerializeField] string vehicleName;
+
         //Ensure to call this method as the first statement, from derived class `Start()` method.
         protected void Start() {
             isDrone = this is Drone ? true : false;
@@ -55,19 +57,8 @@ protected void Start() {
 
             InitializeVehicle();
 
-            airsimInterface = VehicleCompanion.GetVehicleCompanion(this);
-            isServerStarted = airsimInterface.StartVehicleServer(AirSimSettings.GetSettings().LocalHostIP);
-
-            if (isServerStarted == false)
-            {
-#if UNITY_EDITOR
-                EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit");
-                EditorApplication.Exit(1);
-#else
-                Application.Quit();
-#endif
-            }
-
+            airsimInterface = VehicleCompanion.GetVehicleCompanion(vehicleName, this);
+            isServerStarted = true;
             AirSimGlobal.Instance.Weather.AttachToVehicle(this);
         }
 
@@ -114,8 +105,6 @@ protected void LateUpdate() {
                 {
                     print_log_messages_ = !print_log_messages_;
                 }
-
-                airsimInterface.InvokeTickInAirSim(Time.deltaTime);
             }
         }
 
@@ -133,7 +122,7 @@ protected void OnCollisionEnter(Collision collision) {
                 collisionInfo.object_name = collision.collider.name;
                 collisionInfo.time_stamp = DataManager.GetCurrentTimeInMilli();
 
-                airsimInterface.InvokeCollisionDetectionInAirSim(collisionInfo);
+                airsimInterface.InvokeCollisionDetectionInAirSim(vehicleName, collisionInfo);
             }
         }
 
@@ -160,10 +149,6 @@ protected void OnCollisionExit() {
             }
         }
 
-        protected void OnApplicationQuit() {
-            airsimInterface.StopVehicleServer();
-        }
-
         //Define the recording data that needs to be saved in the airsim_rec file for Toggle Recording button
         public abstract DataRecorder.ImageData GetRecordingData();
 
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs
index c83787d8d5..e9d4f00408 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs
@@ -36,34 +36,23 @@ private VehicleCompanion(IVehicleInterface vehicleInterface) {
             basePortId = AirSimSettings.GetSettings().GetPortIDForVehicle(isDrone);
         }
 
-        public static VehicleCompanion GetVehicleCompanion(IVehicleInterface vehicleInterface) {
+        public static VehicleCompanion GetVehicleCompanion(string vehicleName, IVehicleInterface vehicleInterface) {
             var companion = new VehicleCompanion(vehicleInterface);
 
-            if (AirSimSettings.GetSettings().SimMode == "Car")
-                companion.vehicleName = "PhysXCar";
-            else if (AirSimSettings.GetSettings().SimMode == "Multirotor")
-                companion.vehicleName = "SimpleFlight";
+            companion.vehicleName = vehicleName;
 
             Vehicles.Add(companion);
             return companion;
         }
 
-        public bool StartVehicleServer(string hostIP) {
-            return PInvokeWrapper.StartServer(vehicleName, AirSimSettings.GetSettings().SimMode, basePortId);
-        }
-
-        public void StopVehicleServer() {
-            PInvokeWrapper.StopServer(vehicleName);
-        }
-
         public void InvokeTickInAirSim(float deltaSecond)
         {
             PInvokeWrapper.CallTick(deltaSecond);
         }
 
-        public void InvokeCollisionDetectionInAirSim(CollisionInfo collisionInfo)
+        public void InvokeCollisionDetectionInAirSim(string vehicleName, CollisionInfo collisionInfo)
         {
-            PInvokeWrapper.InvokeCollisionDetection(collisionInfo);
+            PInvokeWrapper.InvokeCollisionDetection(vehicleName, collisionInfo);
         }
 
         public KinemticState GetKinematicState() {
@@ -101,10 +90,10 @@ private static void InitDelegators() {
                 Marshal.GetFunctionPointerForDelegate(new Func<string, int>(GetSegmentationObjectId)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, string, string, int, bool>(PrintLogMessage)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, UnityTransform>(GetTransformFromUnity)),
-                Marshal.GetFunctionPointerForDelegate(new Func<string, bool>(Reset)),
+                Marshal.GetFunctionPointerForDelegate(new Func<bool>(Reset)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, AirSimVector>(GetVelocity)),
                 Marshal.GetFunctionPointerForDelegate(new Func<AirSimVector, AirSimVector, string, RayCastHitResult>(GetRayCastHit)),
-                Marshal.GetFunctionPointerForDelegate(new Func<string, float, bool>(Pause))
+                Marshal.GetFunctionPointerForDelegate(new Func<float, bool>(Pause))
             );
         }
 
@@ -142,10 +131,12 @@ private static UnityTransform GetTransformFromUnity(string vehicleName)
             return vehicle.VehicleInterface.GetTransform();
         }
 
-        private static bool Reset(string vehicleName)
+        private static bool Reset()
         {
-            var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
-            vehicle.VehicleInterface.ResetVehicle();
+            foreach (var vehicle in Vehicles)
+            {
+                vehicle.VehicleInterface.ResetVehicle();
+            }
             return true;
         }
 
@@ -208,7 +199,7 @@ private static bool GetDistortionParams(string cameraName, string vehicleName)
         }
 
         private static bool PrintLogMessage(string message, string messageParams, string vehicleName, int severity) {
-            var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
+            var vehicle = Vehicles[0]; //we just let first vehicle print the message
             return vehicle.VehicleInterface.PrintLogMessage(message, messageParams, vehicleName, severity);
         }
 
@@ -220,10 +211,13 @@ private static int GetSegmentationObjectId(string objectName) {
             return Vehicle.GetSegmentationObjectId(objectName);
         }
 
-        private static bool Pause(string vehicleName, float timeScale)
+        private static bool Pause(float timeScale)
         {
-            var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
-            return vehicle.VehicleInterface.Pause(timeScale);
+            foreach (var vehicle in Vehicles)
+            {
+                vehicle.VehicleInterface.Pause(timeScale);
+            }
+            return true;
         }
     }
 }
diff --git a/Unity/UnityDemo/Assets/Scenes/CarDemo.unity b/Unity/UnityDemo/Assets/Scenes/CarDemo.unity
index bf2dd21091..ecccc212c6 100644
--- a/Unity/UnityDemo/Assets/Scenes/CarDemo.unity
+++ b/Unity/UnityDemo/Assets/Scenes/CarDemo.unity
@@ -38,7 +38,7 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.18028378, g: 0.22571412, b: 0.30692285, a: 1}
+  m_IndirectSpecularColor: {r: 0.18028334, g: 0.2257134, b: 0.30692226, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
@@ -9412,6 +9412,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: e924d4c00c2c05d42830dd3a94dd86a8, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  vehicleName: PhysXCar
 --- !u!114 &1472270036
 MonoBehaviour:
   m_ObjectHideFlags: 0
diff --git a/Unity/UnityDemo/Assets/Scenes/DroneDemo.unity b/Unity/UnityDemo/Assets/Scenes/DroneDemo.unity
index e71e10a492..c9445e2295 100644
--- a/Unity/UnityDemo/Assets/Scenes/DroneDemo.unity
+++ b/Unity/UnityDemo/Assets/Scenes/DroneDemo.unity
@@ -1243,6 +1243,11 @@ PrefabInstance:
       propertyPath: m_LocalPosition.z
       value: 0.1
       objectReference: {fileID: 0}
+    - target: {fileID: 114101639218931136, guid: f63bf11bc2a9a7146a4375d511e1425c,
+        type: 3}
+      propertyPath: vehicleName
+      value: SimpleFlight
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: f63bf11bc2a9a7146a4375d511e1425c, type: 3}
 --- !u!1 &142585434
@@ -3556,6 +3561,62 @@ MeshFilter:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 638753530}
   m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1 &663350804
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 663350806}
+  - component: {fileID: 663350805}
+  - component: {fileID: 663350807}
+  m_Layer: 0
+  m_Name: AirSimManager
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!114 &663350805
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+  m_Script: {fileID: 11500000, guid: 9cc58e6de68c02747a4aa12440551a3b, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+--- !u!4 &663350806
+Transform:
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+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 5
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &663350807
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+  m_Script: {fileID: 11500000, guid: ca72950c6b9a95848b5b1bee27e51ff8, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1 &701307520
 GameObject:
   m_ObjectHideFlags: 0
diff --git a/Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity b/Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity
new file mode 100644
index 0000000000..9cc659950a
--- /dev/null
+++ b/Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity
@@ -0,0 +1,640 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
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+    backfaceThreshold: 100
+  m_SceneGUID: 00000000000000000000000000000000
+  m_OcclusionCullingData: {fileID: 0}
+--- !u!104 &2
+RenderSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 9
+  m_Fog: 0
+  m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1}
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+  m_AmbientGroundColor: {r: 0.047, g: 0.043, b: 0.035, a: 1}
+  m_AmbientIntensity: 1
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+  m_SubtractiveShadowColor: {r: 0.42, g: 0.478, b: 0.627, a: 1}
+  m_SkyboxMaterial: {fileID: 10304, guid: 0000000000000000f000000000000000, type: 0}
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+  m_Sun: {fileID: 0}
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+--- !u!157 &3
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