Faculty Mentor
Morad Nazari
Abstract
Heterogeneous multi-agent systems represents a growing area of research in autonomous vehicles, which involves the real-time cooperation of vehicles operating under different roles or dynamical mod- els. While there is plenty of theoretical work, the existing experimental research focuses on cooperation between physically identical vehicles. This is likely because testing heterogeneous vehicles naturally in- volves more complicated dynamics and communication frameworks to ensure compatibility. The goal of the Cooperative Aerial and Ground Vehicles Experimental (CAGE) testbed is to develop an experimen- tal testbed that involves cooperation of two distinct vehicle models: multiple Crazyflie 2.1 quadcopter drones and at least one Khepera IV ground robot. By enabling autonomous cooperation between aerial and ground vehicles, the testbed will open new opportunities for validating control frameworks. This paper presents initial development of the testbed, including physical environment construction, establish- ment of software for programming both vehicles, limitations of using outdated Khepera IV products, and creation of a manual for future users and developers.
Recommended Citation
Robinson, Javier S. and Nazari, Morad
(2025)
"Initial Development of Cooperative Aerial and Ground Vehicles Experimental Testbed,"
Beyond: Undergraduate Research Journal: Vol. 9
, Article 5.
Available at:
https://commons.erau.edu/beyond/vol9/iss1/5