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Unmanned Helicopter Formation Flight Experiment for the Study of Mesh Stability

In: Cooperative Systems

Author

Listed:
  • 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)

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.

Suggested Citation

  • Elaine Shaw & Hoam Chung & J. Karl Hedrick & Shankar Sastry, 2007. "Unmanned Helicopter Formation Flight Experiment for the Study of Mesh Stability," Lecture Notes in Economics and Mathematical Systems, in: Don Grundel & Robert Murphey & Panos Pardalos & Oleg Prokopyev (ed.), Cooperative Systems, pages 37-56, Springer.
    • Handle: RePEc:spr:lnechp:978-3-540-48271-0_3
    DOI: 10.1007/978-3-540-48271-0_3
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