Multi-vehicle Experimental Platform for Distributed Coordination and Control

Faculty Contact: Jonathan How

Other Faculty: John Deyst and Brian Williams

Students: Ellis King

Project funded by the DoD DURIP Program FY2002

Recent Work:

 
Typical results showing a cooperative attack around the obstacles of 3 UAVs against the targets
  The results (e.g. X,Y,Z,V,P,Q,R,) from each vehicle are then logged and movies of the scenario are made in AVDS.

Data plots for this scenario are shown below.
 
Further Test Cases:
Case 1
Some slides showing typical mission scenarios that we are exploring using MILP for the task assignment and re-assigment, and receding horizon path planning that accounts for the changes in the environment.

Case 2

  Hardware-in-the-loop data for this scenario. The obstacle with solid lines is known ahead of time. The boxes with dashed lines are discovered, as shown above. The trajectory is then redesigned to account for this relatively small change in the environment.

Case 3
  Hardware-in-the-loop data for this case 3. The obstacle with solid lines is known ahead of time. The large box with dashed lines is discovered, as shown above. The trajectory and assignments are then redesigned to account for this relatively large change in the environment.
These results demonstrate a successful integration of the MILP-based planning algorithms with the UAV testbed,
and we are thus ready for flight tests later this Summer.


Last updated: May 29, 2003