A simulation test bed for coordination of unmanned rotorcraft and ground vehicles

Murat Yasar, Derek O. Bridges, Goutham Mallapragada, Joseph Francis Horn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper presents the development of a simulation test bed for a command, control, computer, communication, intelligence, surveillance and reconnaissance (C4ISR) system. The test bed features coordination of a rotorcraft unmanned aerial vehicle (RUAV) and multiple unmanned ground vehicles (UGVs) by integrating a high-fidelity rotorcraft model with actual ground-based robots that emulate UGVs. The RUAV component of the test bed is realized on a networked computer simulation, whereas networked robotics hardware is employed for the UGV representation. The RUAV dynamics run a high-fidelity nonlinear simulation model of a UH-60A Black Hawk helicopter. To emulate the dynamics of the UGVs, several networked Segway robots are employed. The proposed C4ISR system undertakes the task of mission management from the top level discrete-event supervision (DES) to the bottom level continuous-time regulation.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006
Pages400-412
Number of pages13
StatePublished - Dec 1 2006
EventAIAA Modeling and Simulation Conference, 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006
Volume1

Other

OtherAIAA Modeling and Simulation Conference, 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

Fingerprint

Unmanned vehicles
Ground vehicles
Unmanned aerial vehicles (UAV)
Robots
Computer control
Helicopters
Computer hardware
Robotics
Communication
Computer simulation

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Yasar, M., Bridges, D. O., Mallapragada, G., & Horn, J. F. (2006). A simulation test bed for coordination of unmanned rotorcraft and ground vehicles. In Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006 (pp. 400-412). (Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006; Vol. 1).
Yasar, Murat ; Bridges, Derek O. ; Mallapragada, Goutham ; Horn, Joseph Francis. / A simulation test bed for coordination of unmanned rotorcraft and ground vehicles. Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006. 2006. pp. 400-412 (Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006).
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Yasar, M, Bridges, DO, Mallapragada, G & Horn, JF 2006, A simulation test bed for coordination of unmanned rotorcraft and ground vehicles. in Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006. Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006, vol. 1, pp. 400-412, AIAA Modeling and Simulation Conference, 2006, Keystone, CO, United States, 8/21/06.

A simulation test bed for coordination of unmanned rotorcraft and ground vehicles. / Yasar, Murat; Bridges, Derek O.; Mallapragada, Goutham; Horn, Joseph Francis.

Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006. 2006. p. 400-412 (Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006; Vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Yasar M, Bridges DO, Mallapragada G, Horn JF. A simulation test bed for coordination of unmanned rotorcraft and ground vehicles. In Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006. 2006. p. 400-412. (Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006).