The OSU Multi-Vehicle Coordination Testbed

In this paper we present the OSU Multi-Vehicle Coordination Testbed, a group of nonholonomic robots for testing and implementing hybrid control approaches for formation control, multi-agent coordination, multi-robot learning, and real-time wireless networked control system design. The vehicles are equipped with a suite of sensors, a vision system and wireless Ethernet for communications. The testbed will allow us to carry out experimental research to verify theoretical results that have been validated using only simulation. In addition, we describe a framework for adaptive leader-following formation control. The novel aspect of this research is that we explicitly consider the dynamics of the vehicles and develop a modular adaptive formation control scheme.