As an alternative to cumbersome aerial vehicles with considerable maintenance requirements and flight envelope restrictions, the X4 flyer is chosen as the basis for the Stanford testbed of autonomous rotorcraft for multi-agent control (STARMAC). This paper outlines the design and development of a miniature autonomous waypoint tracker flight control system, and the creation of a multi-vehicle platform for experimentation and validation of multi-agent control algorithms. This testbed development paves the way for real-world implementation of recent work in the fields of autonomous collision and obstacle avoidance, task assignment formation flight, using both centralized and decentralized techniques.


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    Title :

    The Stanford testbed of autonomous rotorcraft for multi agent control (STARMAC)


    Contributors:
    Hoffmann, G. (author) / Rajnarayan, D.G. (author) / Waslander, S.L. (author) / Dostal, D. (author) / Jang, J.S. (author) / Tomlin, C.J. (author)


    Publication date :

    2004-01-01


    Size :

    578318 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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