Multiple Air Robotics Indoor Testbed

This paper describes the design and construction of a Multiple Air Robotics Indoor Testbed (MARIT) in detail. MARIT is an indoor experimental platform for developing and validating research work in cooperative control, trajectory generation and computational intelligence for multiple unmanned aerial vehicles (UAVs). MARIT is instrumental to capture the 6 DOF (degree of freedom) dynamic position information of the small air robots fast and accurately in the 3D test domain. Several difficulties developing the testbed such as connecting the RC (radio-controlled) transmitter to the computer, modeling the UAVs in Vicon softwares and system identification of the inner control system of the UAV are clearly explained.