(HOvercraft Testbed for DEcentralized Control)
|
(HOvercraft Testbed for DEcentralized Control) |
Multi - Vehicle Testbed for Network and Control Applications |
| Design Details |
HoTDeC uses a 6-camera distributed vision system to bring location feedback to 5 encoded-top hovercraft. The on-board computers process the given visual information, combine it with on-board acceleration and gyro sensors and guide the hovercraft by actuating four thrust and one lift fan.
The hovercraft charge on electrode platforms automatically and the whole system can be controlled via the internet as demonstrated live from boston at the 2004 ACC.
All fan housing, blades, hovercraft chasis and skirts, together with charging and mechatronics boards were all designed in our lab.
Please review our publications webpage for design details. Also, we've made public some posters and internal presentations below:
ACC 2004. To our
knowledge, the first live demo of a control testbed at ACC vie the internet.
ITR hotdec update.
A report to our ITR research group about updates on the project (at the time).
NSF site visit
overall system and
vision system posters.
Joel's,
Jeff's,
Vladimer's,
Andy's, and
Adam's
theses, in chronological order.
A diagram of the software flow of the HoTDeC system.
An interested reader can start building hovercraft systems at home with these.
