Cremean et al. 2002 : We introduce the
Caltech Multi-Vehicle Wireless Testbed (MVWT), a
platform for testing decentralized control methodologies for multiple vehicle coordination and formation stabilization. The
testbed consists of eight mobile vehicles, an overhead vision
system that provides GPS-like state information and wireless Ethernet for
communications. Each vehicle rests on
omni-directional casters and is powered by two high-performance ducted fans.
Thus, a unique feature of our testbed is that the vehicles have second order
dynamics, requiring real-time feedback algorithms to stabilize the system while
performing cooperative tasks. The testbed will be used by various research
groups at Caltech and elsewhere to validate theoretical advances in multi-vehicle coordination and control, networked control
systems, real-time networking and high confidence distributed computation.