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The Caltech Multi-Vehicle Wireless Testbed
Abstract In this paper we introduce the Caltech Mul …
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.
d high confidence distributed computation.  +
Authors Lars Cremean, William Dunbar, David van Gogh, Jason Hickey, Eric Klavins, Jason Meltzer, Richard M. Murray  +
ID 2002b  +
Source 2002 Conference on Decision and Control (CDC)  +
Tag cre+02-cdc  +
Title The Caltech Multi-Vehicle Wireless Testbed +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:19:04  +
URL
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http://www.cds.caltech.edu/~murray/preprints/cre+02-cdc.pdf  +
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