Accession Number : ADA478657


Title :   Multi-Vehicle Flight Testbed for Extended Mission Analysis, Fault Isolation, and Recovery


Descriptive Note : Conference paper


Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE


Personal Author(s) : Valenti, Mario ; How, Jonathan P


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a478657.pdf


Report Date : 01 Nov 2007


Pagination or Media Count : 17


Abstract : 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.


Descriptors :   *TEST BEDS , *REAL TIME , *MISSIONS , *DRONES , *GROUND VEHICLES , MAINTENANCE , REFUELING , SURVEILLANCE , ALGORITHMS , SCENARIOS , EXPERIMENTAL DATA , SYMPOSIA


Subject Categories : Pilotless Aircraft
      Surface Transportation and Equipment
      Test Facilities, Equipment and Methods


Distribution Statement : APPROVED FOR PUBLIC RELEASE