Design and implementation of multiple-rotorcraft-flying-robot testbed

In this paper, a multiple-rotorcraft-flying-robot (MRFR) testbed is introduced. Firstly, physical structure, as well as hardware and software system, is described in detail. Subsequently, in order to realize the autonomous flight of each single rotorcraft-flying-robot (RFR), modeling, identification and flight control experiments are conducted. Then, formation flying demonstration is presented to verify the basic functions of the new-designed MRFR testbed. Finally, two points should be emphasized: 1) both cooperation/coordination algorithm of MRFR and advanced flight control algorithm of single RFR can be verified on this testbed; 2) experiments on this testbed can approach real flight test much better because three real RFR systems are used.