Indoor multi-vehicle flight test bed for fault detection, isolation, and recovery

Mario Valenti, Brett Bethke, Gaston Fiore, Jonathan P. How, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

121 Scopus citations


This paper presents flight tests of a unique indoor, multi-vehicle testbed that was developed to study long duration UAV missions in a controlled environment. This testbed uses real hardware to examine research questions related to single and multi-vehicle health management, such as vehicle failures, refueling, and maintenance. The primary goal of the project is to embed health management into the full UAV planning system, thereby leading to improved overall mission performance, even when using simple aircraft that are prone to failures. The testbed has both aerial and ground vehicles that operate autonomously in a large test region and can be used to execute many different mission scenarios. The success of this testbed is largely related to our choice of vehicles, sensors, and the system's command and control architecture, which has resulted in a testbed that is very simple to operate. This paper discusses this testbed infrastructure and presents flight test results from some of our most recent single- and multi-vehicle experiments.
Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
PublisherAmerican Institute of Aeronautics and Astronautics
Number of pages18
ISBN (Print)1563478196
StatePublished - Jan 1 2006
Externally publishedYes


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