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Prescribed fire is an important tool for wildfire management and land management. Simulation of prescribed fires holds great potential in supporting planning of prescribed burn events. This paper presents a simulation-based study of a prescribed fire using data from Unmanned Aircraft System (UAS)-based sensing. A systematic approach for modelling and simulating prescribed fires with dynamic ignitions is developed. The developed approach is applied to a real prescribed fire where a UAS was used to monitor and collect data about the fire. The dynamic ignition process from multiple fire setting teams is specified, and simulation results are compared to real measurement data from UAS-based sensing. The results demonstrate the effectiveness of the developed modelling approach as well as the utility of using UAS-based fire measurements for prescribed fire simulations. [ABSTRACT FROM AUTHOR]