Multi - Vehicle Testbed for Network and Control Applications
Publications
MODELING AND APPLICATION OF A NETWORK CONTROL TESTBED
[Andrew Stubbs, Vladimeros Vladimerou, Adam Fulford,
Jeff Strick, Zhe Di, and Geir E. Dullerud ]
.pdf Abstract:
In recent years, considerable advances have been made in the development of fast, accurate, and
inexpensive sensing and networking hardware. However, even when many of the constituent devices
of a networked system are well understood on an individual basis, a general understanding and
experience with the integration of such devices into complex distributed systems, such as that
formed by a network of robotic vehicles, is still largely lacking. That is, a systematic understanding
of the subsystems may exist, but not of the systems they form. The work presented here aims to
make progress towards a greater understanding of networked robotic systems by constructing one
from state of the art components.
NETWORKED CONTROL OF DISTRIBUTED SYSTEMS: A TESTBED
[Andrew Stubbs and Geir E. Dullerud]
.pdf Abstract:
A testbed for networked control of dynamical systems, recently
developed by the authors at the University of Illinois, is decribed.
It is comprised of planar aerial vehicles (hovercraft) which use the
Bluetooth chipset for wireless communication...
DEVELOPMENT OF A VEHICLE NETWORK CONTROL TESTBED
[Andrew Stubbs, Vladimeros Vladimerou, Andy Vaugn, and Geir E. Dullerud]
.pdf Abstract:
This paper describes the devopment of a protoype testbed.
We have designed and constructd the testbed for network control of
distributed vehicle networks, and the developed system supports communication
via a combination of wireles and wired media...
DISTRIBUTED CONTROL OF NETWORK VEHICLES [Andrew Stubbs, Vladimeros Vladimerou,
Joel Rubel, and Geir E. Dullerud]
.pdf
Abstract:
This paper summarizes the specifications, possibilities and
expandability of an ongoing distributed control testbed project
at the University of Illinois. We will give reference to our
previous publications...
A HOVERCRAFT TESTBED FOR DECENTRALIZED AND COOPERATIVE CONTROL
[Vladimeros Vladimerou , Andrew Stubbs, Joel Rubel, Adam Fulford, Jeffrey Strick, Geir Dullerud]
.pdf Abstract:
This paper describes a testbed facility . the
HoTDeC (HOvercraft Testbed for DEcentralized Control) .
developed by the authors at the University of Illinois, consisting
of multiple autonomous hovercraft vehicles which are
wirelessly networked. This facility provides a flexible and stateof-
the-art testbed for experimentation with inter-networked
vehicles and sensors for decentralized and cooperative control,
in a dynamically nontrivial setting.
NETWORKED CONTROL OF DISTRIBUTED SYSTEMS
[Andrew Stubbs and Geir E. Dullerud]
.pdf Abstract:
In this paper we develop results for analysis and synthesis of
networked control systems. Specifically, we consider dstributed control
in a so-called linear parameter-varying setting. Operator theoretic
tools for working with these systems are developed...
(HOvercraft Testbed for DEcentralized Control)
