Terrestrial Testing of Multi-Agent, Relative Guidance, Navigation, and Control Algorithms

Mark Mercier, Sean Phillips, Matt Shubert, Wenjie Dong

Abstract: The rise in small, distributed satellite applications has led to an increased interest in multi-agent, cooperative guidance, navigation, and control (GNC) strategies. In order to integrate and test algorithms associated with a multi-agent cooperative environment, the Cooperative Autonomous Networked Systems (CANS) Lab was developed. Multiple three-wheeled, omni-directional ground robots with on-board sensor suites enable hardware-in-the-loop testing while adhering to planar relative dynamics. A software framework has been established to enable accurate dynamics simulation using Clohessy-Wiltshire-Hill (CWH) dynamics. In this paper, the CANS lab is demonstrated through the use of an example formation flying application which incorporates uncertain scenario parameters.
Published in: 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
April 20 - 23, 2020
Hilton Portland Downtown
Portland, Oregon
Pages: 1488 - 1497
Cite this article: Mercier, Mark, Phillips, Sean, Shubert, Matt, Dong, Wenjie, "Terrestrial Testing of Multi-Agent, Relative Guidance, Navigation, and Control Algorithms," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 1488-1497.
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