Unmanned Helicopter Formation Flight Experiment for the Study of Mesh Stability

Elaine Shaw (), Hoam Chung (), J. Karl Hedrick () and Shankar Sastry ()
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Elaine Shaw: University of California Berkeley
Hoam Chung: University of California Berkeley
J. Karl Hedrick: University of California Berkeley
Shankar Sastry: University of California Berkeley

A chapter in Cooperative Systems, 2007, pp 37-56 from Springer

Abstract: Summary The authors have performed formation flights of UAVs using two of UC Berkeley’s BEAR unmanned helicopters together in realtime with a simulated leader and six simulated helicopters. The goal of this experiment was to verify the mesh stability theory. The experimental results differ from the ideal theoretical results. Upon closer examination, this discrepancy is due to the effects of having a heterogeneous formation while the theory used is meant for homogeneous formations. While much work remains to be done, we can still show that using leader information in the control law is better than not using leader information. However, a new question arises regarding how one should define mesh stability for a heterogeneous mesh.

Keywords: Unmanned Aerial Vehicle; Packet Loss Rate; Spacing Error; Lead Vehicle; Unmanned Helicopter (search for similar items in EconPapers)
Date: 2007
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Persistent link: https://EconPapers.repec.org/RePEc:spr:lnechp:978-3-540-48271-0_3

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DOI: 10.1007/978-3-540-48271-0_3

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