详情

原文传递 Multi-Vehicle Flight Testbed for Extended Mission Analysis, Fault Isolation, and Recovery

题名：	Multi-Vehicle Flight Testbed for Extended Mission Analysis, Fault Isolation, and Recovery
作者：	How, Jonathan P.;Valenti, Mario;
关键词：	TEST BEDSZTEST BEDSZ, REAL TIMEZREAL TIMEZ, MISSIONSZMISSIONSZ, DRONESZDRONESZ, GROUND VEHICLESZGROUND VEHICLESZ, MAINTENANCEZMAINTENANCEZ, REFUELINGZREFUELINGZ, SURVEILLANCEZSURVEILLANCEZ, ALGORITHMS
摘要：	This paper presents a unique indoor multi-vehicle testbed named RAVEN (Real-time Autonomous Vehicle indoor test ENvironment) that was constructed to enable investigations of long-duration missions in a controlled environment. RAVEN provides a platform for demonstrating algorithms that embed the fleet and vehicle health state into the mission and UAV planning by enabling researchers to examine questions such as the rate and impact of vehicle failures on mission success, and what are the best strategies for performing routine refueling and maintenance using real hardware. RAVEN is comprised of both aerial and ground vehicles, allowing researchers to conduct tests for a wide variety of mission scenarios. This paper discusses this testbed infrastructure and presents flight test results from some of our most recent single- and multi-vehicle experiments. In addition, this paper presents results for an autonomously-controlled multi-vehicle persistent surveillance mission scenario.
总页数：	17
报告类型：	科技报告