TY - GEN
T1 - Experimental cooperative control of fixed-wing unmanned aerial vehicles
AU - Bayraktar, Selcuk
AU - Fainekos, Georgios E.
AU - Pappas, George J.
N1 - Funding Information:
The National Natural Science Foundation of China (Nos. 51278299 and 51478264) supported this work. Rui Sun and Renjie Luo took part in conducting summer experiments and did some preliminary analysis.
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
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U2 - 10.1109/CDC.2004.1429426
DO - 10.1109/CDC.2004.1429426
M3 - Conference contribution
AN - SCOPUS:14244252724
SN - 0780386825
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4292
EP - 4298
BT - 2004 43rd IEEE Conference on Decision and Control (CDC)
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2004 43rd IEEE Conference on Decision and Control (CDC)
Y2 - 14 December 2004 through 17 December 2004
ER -