Multi-Vehicle Experimental Platform for Distributed Coordination and Control

Abstract

This report discusses the two testbeds that were developed with the DURIP grant, showing that all of the objectives were met and that they provide excellent facilities for demonstrating advanced coordination and control concepts in real-time, in realistic environments. Performing experiments on these testbeds will highlight the fundamental challenges associated with: (i) planning for large team in real-time; (ii) developing controllers that are robust to uncertainty in the situational awareness, and are sufficiently flexible to respond to dynamic changes; and (iii) using communication networks and distributed processing to develop integrated and cooperative plans. The testheds have been used to support several research and educational projects at MIT: 1. AFOSR Cooperative Control Theme 2. DARPA Mixed-Initiative Control of Automa-teams (MICA) 3. DARPA Software Enabled Control (SEC) 4. MIT Senior Capstone design class (16.821 Flight Vehicle Development) Proposals have been submitted to the DoD ACO and DARPA HURT ro rams that will use the testbeds.

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Document Details

Document Type
Technical Report
Publication Date
Feb 29, 2004
Accession Number
ADA420937

Entities

People

  • Jonathan How

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Aircrafts
  • Astronautics
  • Communication Networks
  • Computing System Architectures
  • Control Systems
  • Cooperative Control
  • Department Of Defense
  • Digital Video
  • Environment
  • Ground Stations
  • Motion Planning
  • Networks
  • Platforms
  • Simulations
  • Situational Awareness
  • Uncertainty
  • Unmanned Aerial Vehicles

Readers

  • Distributed Systems and Data Platform Development
  • Research Science/Academic Research
  • Robotics and Automation.