Setting Up an Autonomous Multi-UAS Laboratory: Challenges and Recommendations
thesisposted on 08.05.2020 by Nadia Mercedes Coleman
In order to distinguish essays and pre-prints from academic theses, we have a separate category. These are often much longer text based documents than a paper.
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.