Multi-Vehicle Flight Testbed for Extended Mission Analysis, Fault Isolation, and Recovery

Abstract

This paper presents a unique indoor multi-vehicle testbed named RAVEN (Real-time Autonomous Vehicle indoor test ENvironment) that was constructed to enable investigations of long-duration missions in a controlled environment. RAVEN provides a platform for demonstrating algorithms that embed the fleet and vehicle health state into the mission and UAV planning by enabling researchers to examine questions such as the rate and impact of vehicle failures on mission success, and what are the best strategies for performing routine refueling and maintenance using real hardware. RAVEN is comprised of both aerial and ground vehicles, allowing researchers to conduct tests for a wide variety of mission scenarios. This paper discusses this testbed infrastructure and presents flight test results from some of our most recent single- and multi-vehicle experiments. In addition, this paper presents results for an autonomously-controlled multi-vehicle persistent surveillance mission scenario.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 2007
Accession Number
ADA478657

Entities

People

  • Jonathan How
  • Mario Valenti

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Abstracts
  • Aircrafts
  • Airframes
  • Algorithms
  • Autonomous Vehicles
  • Control Systems
  • Controlled Environment
  • Electronic Aircraft
  • Environment
  • Ground Vehicles
  • Maintenance
  • Military Aircraft
  • Platforms
  • Recovery
  • Surveillance
  • Unmanned Aerial Vehicles
  • Unmanned Vehicles

Fields of Study

  • Computer science

Readers

  • Parallel and Distributed Computing.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control
  • Autonomy - UAVs