TY - GEN
T1 - A Low-Cost Experimental Testbed for Decentralized Control of Multi-UAV Systems
AU - Sahebsara, Farid
AU - Snellgrove, Matthew
AU - De Queiroz, Marcio
N1 - DBLP License: DBLP's bibliographic metadata records provided through http://dblp.org/ are distributed under a Creative Commons CC0 1.0 Universal Public Domain Dedication. Although the bibliographic metadata records are provided consistent with CC0 1.0 Dedication, the content described by the metadata records is not. Content may be subject to copyright, rights of privacy, rights of publicity and other restrictions.
PY - 2024/8/21
Y1 - 2024/8/21
N2 - The current state of research in control of multi-agent systems is evolving from the theoretical development of coordination algorithms and their computer simulations to experimental validations on proof-of-concept testbeds. In this paper, we describe the development of a low-cost, indoor, multiple unmanned aerial vehicle (UAV) platform for testing decentralized control algorithms. The platform consists of a team of Parrot Mambo Fly's (a small commercially-available quadcopter-type UAV), a host computer per UAV, and a Simulink-based programming environment. The paper details the hardware, software, communication, and control components of the platform, followed by a demonstration of the platform's performance in the context of formation control.
AB - The current state of research in control of multi-agent systems is evolving from the theoretical development of coordination algorithms and their computer simulations to experimental validations on proof-of-concept testbeds. In this paper, we describe the development of a low-cost, indoor, multiple unmanned aerial vehicle (UAV) platform for testing decentralized control algorithms. The platform consists of a team of Parrot Mambo Fly's (a small commercially-available quadcopter-type UAV), a host computer per UAV, and a Simulink-based programming environment. The paper details the hardware, software, communication, and control components of the platform, followed by a demonstration of the platform's performance in the context of formation control.
UR - https://www.scopus.com/pages/publications/85204780893
UR - https://www.mendeley.com/catalogue/328f31b8-77c7-3c61-b47e-7852daf296a0/
U2 - 10.1109/CCTA60707.2024.10666654
DO - 10.1109/CCTA60707.2024.10666654
M3 - Conference contribution
AN - SCOPUS:85204780893
SN - 9798350370942
T3 - 2024 IEEE Conference on Control Technology and Applications, CCTA 2024
SP - 351
EP - 356
BT - 2024 IEEE Conference on Control Technology and Applications, CCTA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE Conference on Control Technology and Applications, CCTA 2024
Y2 - 21 August 2024 through 23 August 2024
ER -