The Caltech Multi-Vehicle Wireless Testbed
Lars Cremean, William Dunbar, David van Gogh, Jason Hickey, Eric
Klavins, Jason Meltzer, Richard M. Murray
2002 Conference on Decision and Control (CDC)
In this paper we introduce the Caltech
Multi-Vehicle Wireless Testbed (MVWT), a platform for testing
decentralized control methodologies for multiple vehicle
coordination and formation stabilization. The testbed consists of
eight mobile vehicles, an overhead vision system providing
GPS-like position information and wireless Ethernet for
communications. Each vehicle rests on omni-direction casters and
is powered by two high-performance ducted fans. Thus, a unique
feature of our testbed is that the vehicles have second order
dynamics, requiring real-time feedback algorithms to stabilize the
system while performing cooperative tasks. The testbed will be
used by various research groups at Caltech and elsewhere as a
means to validate theoretical advances in multiple-vehicle
coordination and control, networked control systems, real time
networking and high confidence distributed computation.
Conference
Paper (PDF, 3 pages, 251)
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Richard Murray
(murray@cds. caltech.edu)