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1、Real-TimeIndoorAutonomousVehicleTestEnvironmentJONATHANP.HOW,BRETTBETHKE,ADRIANFRANK,DANIELDALE,andJOHNVIANATESTBEDFORTHERAPIDPROTOTYPINGOFUNMANNEDVEHICLETECHNOLOGIESnmannedaerialvehicles(UAVs)arebecomingvitalwarfareandhomeland-securityplatformsbecausetheysignificantlyreducecostsandtherisktohumanli
2、fewhileamplifyingwarfighterandfirst-respondercapabilities.ThesevehicleshavebeenusedinIraqUandduringHurricaneKatrinarescueeffortswithsomesuccess,butthereremainsaformidablebarriertoachievingthevisionofmultipleUAVsoperatingcooperatively.Numerousresearchersareinvestigatingsystemsthatusemultipleautonomo
3、usagentstocooperativelyexecutethesemissions[1]–[4].However,littlehasbeensaidtodateabouthowtoperformmultidayautonomoussystemoperations.Autonomousmissionsystemsmustbalancevehiclecapability,reliability,androbustnessissueswithtaskandmissiongoalswhencreatinganeffectivestrategy.Inaddition,thesesystemshav
4、etheaddedresponsibilityofinteractingwithnumeroushumanoperatorswhilemanagingbothhigh-levelmis-siongoalsandindividualtasks.Toinvestigateanddevelopunmannedvehiclesystemstech-nologiesforautonomousmultiagentmissionplatforms,weareusinganindoormultivehicletestbedcalledReal-timeindoorAutonomousVehicletestE
5、Nvironment(RAVEN)tostudylong-durationmultivehiclemissionsinacon-trolledenvironment.Normally,demonstrationsofmultivehiclecoordinationandcontroltechnologiesrequirethatmultiplehumanoperatorssimultane-ouslymanageflighthardware,navigation,control,andvehicletasking.However,RAVENsimplifiesalloftheseissues
6、toallowresearcherstofocus,ifdesired,onthealgorithmsassociatedwithhigh-leveltasks.Alternative-ly,RAVENprovidesafacilityfortestinglow-levelcontrolalgo-rithmsonbothfixed-androtary-wingaerialplatforms.RAVENisalsoDigitalObjectIdentifier10.1109/MCS.2007.9146911066-033X/08/$25.00©2008IEEEAPRIL2008«IEEECON
7、TROLSYSTEMSMAGAZINE51RAVENisdesignedtoexplorelong-durationautonomousairoperationsusingmultipleUAVswithvirtuallynorestrictionsonflightoperations.beingusedtoanalyzeandimplementtechniquesforUniversity,research
