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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. +
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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 This property is a special property in this wiki.
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15 May 2016 06:19:04 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/cre+02-cdc.pdf + |
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The Caltech Multi-Vehicle Wireless Testbed + | Title |
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