Experimental cooperative control of fixed-wing unmanned aerial vehicles

Selcuk Bayraktar, Georgios Fainekos, George J. Pappas

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

74 Citations (Scopus)

Abstract

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 publicationProceedings of the IEEE Conference on Decision and Control
Pages4292-4298
Number of pages7
Volume4
DOIs
StatePublished - 2004
Externally publishedYes
Event2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas
Duration: Dec 14 2004Dec 17 2004

Other

Other2004 43rd IEEE Conference on Decision and Control (CDC)
CountryBahamas
CityNassau
Period12/14/0412/17/04

Fingerprint

Fixed wings
Unmanned aerial vehicles (UAV)
Computer systems
Software architecture
Motion planning
Testbeds
Computer hardware
Sensor networks
Experiments
Aircraft
Antennas
Hardware
Planning
Controllers
Monitoring

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Chemical Health and Safety

Cite this

Bayraktar, S., Fainekos, G., & Pappas, G. J. (2004). Experimental cooperative control of fixed-wing unmanned aerial vehicles. In Proceedings of the IEEE Conference on Decision and Control (Vol. 4, pp. 4292-4298). [FrA05.5] https://doi.org/10.1109/CDC.2004.1429426

Experimental cooperative control of fixed-wing unmanned aerial vehicles. / Bayraktar, Selcuk; Fainekos, Georgios; Pappas, George J.

Proceedings of the IEEE Conference on Decision and Control. Vol. 4 2004. p. 4292-4298 FrA05.5.

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

Bayraktar, S, Fainekos, G & Pappas, GJ 2004, Experimental cooperative control of fixed-wing unmanned aerial vehicles. in Proceedings of the IEEE Conference on Decision and Control. vol. 4, FrA05.5, pp. 4292-4298, 2004 43rd IEEE Conference on Decision and Control (CDC), Nassau, Bahamas, 12/14/04. https://doi.org/10.1109/CDC.2004.1429426
Bayraktar S, Fainekos G, Pappas GJ. Experimental cooperative control of fixed-wing unmanned aerial vehicles. In Proceedings of the IEEE Conference on Decision and Control. Vol. 4. 2004. p. 4292-4298. FrA05.5 https://doi.org/10.1109/CDC.2004.1429426
Bayraktar, Selcuk ; Fainekos, Georgios ; Pappas, George J. / Experimental cooperative control of fixed-wing unmanned aerial vehicles. Proceedings of the IEEE Conference on Decision and Control. Vol. 4 2004. pp. 4292-4298
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