10.25394/PGS.12273095.v1
Nadia Mercedes Coleman
Nadia Mercedes
Coleman
Setting Up an Autonomous Multi-UAS Laboratory: Challenges and Recommendations
Purdue University Graduate School
2020
Multi-UAS
Autonomous
Autonomous UAV
Control Systems, Robotics and Automation
2020-05-08 18:16:19
Thesis
https://hammer.purdue.edu/articles/thesis/Setting_Up_an_Autonomous_Multi-UAS_Laboratory_Challenges_and_Recommendations/12273095
There is a significant amount of ongoing research on developing multi-agent algorithms for mobile robots. Moving those algorithms beyond simulation and into the real world requires multi-robot testbeds. However, there is currently no easily accessible source of information for guiding the creation of such a testbed. In this thesis, we describe the process of creating a testbed at Purdue University involving a set of unmanned aerial vehicles (UAVs). We discuss the components of the testbed, including the software that is used to interface with the UAVs. We also describe the challenges that we faced during the setup process, and evaluate the UAV platforms that we are using. Finally, we demonstrate the implementation of a multi-agent task allocation algorithm on our testbed.