MVWT-II: The Second Generation Caltech Multi-Vehicle Wireless Testbed

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Zhipu Jin, Stephen Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, David Held, Richard M. Murray
2004 American Control Conference (ACC)

The Caltech Multi-Vehicle Wireless Testbed is an experimental platform for validating theoretical advances in multiple-vehicle coordination and cooperation, real-time networked control system, and distributed computation. This paper describes the design and development of an additional fleet of 12 second-generation vehicles. These vehicles are hovercrafts and designed to have lower mass and friction as well as smaller size than the first generation vehicles. These hovercrafts combined with the outdoor wireless testbed provide a perfect hardware platform for RoboFlag competition.