EECI08: Implementation Examples
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In this lecture we present two examples of networked control systems that have been implemented on representative hardware. In the first example, we briefly consider a demonstration of the "lost wingman" protocol on a T-33 test aircraft acting as the wingman for a (human-piloted) F-15 aircraft. The controller is implemented using receding horizon control and CCL. In the second example we present the implementation and results of Caltech's entry in the 2007 DARPA Urban Challenge.
- Lecture slides: Implementation Examples
S. Waydo, J. Hauser, R. Bailey, E. Klavins, R.M. Murray, “UAV as a Reliable Wingman: A Flight Demonstration”, IEEE T. Control Systems Technology, 2007.
J. Burdick et al., “Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge”, DARPA final report, 2007 (http://gc.caltech.edu/media/papers)