Multi-Vehicle Flight Testbed for Extended Mission Analysis, Fault Isolation, and Recovery
MASSACHUSETTS INST OF TECH CAMBRIDGE
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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.
- Pilotless Aircraft
- Surface Transportation and Equipment
- Test Facilities, Equipment and Methods