UAS, unmanned aircraft, cooperative control, cooperative timing, rendezvous
This paper presents experimental results for two cooperative timing missions carried out using a team of three miniature air vehicles (MAVs). Using a cooperative timing algorithm based on coordination functions and coordination variables, the MAV team executed a series of simultaneous arrival and cooperative fly-by missions. In the presence of significant wind disturbances, the average time difference between the first and last vehicle in the simultaneous arrival experiments was 1.6 s. For the cooperative fly-by experiments, the average timing error between vehicle arrivals was 0.6 s. These results demonstrate the practical feasibility of the cooperative timing approach.
Original Publication Citation
Nelson, D., McLain, T., and Beard, R. Experiments in Cooperative Timing for Miniature Air Vehicles. Journal of Aerospace Computing, Information, and Communication, vol. 4, no. 8, pp. 956-967, August 2007.
BYU ScholarsArchive Citation
McLain, Timothy; Nelson, Derek R.; and Beard, Randal W., "Experiments in Cooperative Timing for Miniature Air Vehicles" (2007). All Faculty Publications. 1903.
Ira A. Fulton College of Engineering and Technology
©2017 AIAA. This is the author's submitted version of this article. The definitive version can be found at https://arc.aiaa.org/doi/abs/10.2514/1.19422
Copyright Use Information