Experimental cooperative control of fixed-wing unmanned aerial vehicles

Selcuk Bayraktar, Georgios E. Fainekos, George J. Pappas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

62 Scopus citations


Recent years have seen rapidly growing interest in the development of networks of multiple unmanned aerial vehicles (U.A.V.s), 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-whig 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.

Original languageEnglish (US)
Title of host publication2004 43rd IEEE Conference on Decision and Control (CDC)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Print)0780386825
StatePublished - 2004
Externally publishedYes
Event2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas
Duration: Dec 14 2004Dec 17 2004

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Other2004 43rd IEEE Conference on Decision and Control (CDC)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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