NDLI: Experimental cooperative control of fixed-wing unmanned aerial vehicles

Content Provider	IEEE Xplore Digital Library
Author	Bayraktar, S. Fainekos, G.E. Pappas, G.J.
Copyright Year	2004
Description	Author affiliation: GRASP Lab., Pennsylvania Univ., USA (Bayraktar, S.; Fainekos, G.E.; Pappas, G.J.)
Abstract	Recent years have seen rapidly growing interest in the development of networks of multiple unmanned aerial vehicles (UAVs), as aerial sensor networks for the purpose of coordinated monitoring, surveillance, and rapid emergency response. This has triggered a great deal of research in higher levels of planning and control, including collaborative sensing and exploration, synchronized motion planning, and formation or cooperative control. In this paper, we describe our recently developed experimental testbed at the University of Pennsylvania, which consists of multiple, fixed-wing UAVs. We describe the system architecture, software and hardware components, and overall system integration. We then derive high-fidelity models that are validated with hardware-in-the-loop simulations and actual experiments. Our models are hybrid, capturing not only the physical dynamics of the aircraft, but also the mode switching logic that supervises lower level controllers. We conclude with a description of cooperative control experiments involving two fixed-wing UAVs.
Starting Page	4292
Ending Page	4298
File Size	934411
Page Count	7
File Format	PDF
ISBN	0780386825
ISSN	01912216
DOI	10.1109/CDC.2004.1429426
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-14
Publisher Place	Bahamas
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Unmanned aerial vehicles Motion control Monitoring Surveillance Collaboration Testing Computer architecture Software systems Hardware Vehicle dynamics
Content Type	Text
Resource Type	Article

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