Nonlinear trajectory generation for the Caltech Multi-Vehicle Wireless Testbed

The Caltech Multi-Vehicle Wireless Testbed (MVWT) is a platform designed to explore theoretical advances in multi-vehicle coordination and control, networked control systems and high confidence distributed computation. The contribution of this report is to present simulation and experimental results on the generation and implementation of optimal trajectories for the MVWT vehicles. The vehicles are nonlinear, spatially constrained and their input controls are bounded. The trajectories are generated using the NTG software package developed at Caltech. Minimum time trajectories and the application of Model Predictive Control (MPC) are investigated.