Purdue University Graduate School
Master_s_Thesis_Final.pdf (1.69 MB)

Setting Up an Autonomous Multi-UAS Laboratory: Challenges and Recommendations

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posted on 2020-05-08, 18:16 authored by Nadia Mercedes ColemanNadia Mercedes Coleman
There is a significant amount of ongoing research on developing multi-agent algorithms for mobile robots. Moving those algorithms beyond simulation and into the real world requires multi-robot testbeds. However, there is currently no easily accessible source of information for guiding the creation of such a testbed. In this thesis, we describe the process of creating a testbed at Purdue University involving a set of unmanned aerial vehicles (UAVs). We discuss the components of the testbed, including the software that is used to interface with the UAVs. We also describe the challenges that we faced during the setup process, and evaluate the UAV platforms that we are using. Finally, we demonstrate the implementation of a multi-agent task allocation algorithm on our testbed.


Degree Type

  • Master of Science in Electrical and Computer Engineering


  • Electrical and Computer Engineering

Campus location

  • West Lafayette

Advisor/Supervisor/Committee Chair

Dr. Shreyas Sundaram

Advisor/Supervisor/Committee co-chair

Dr. David Cappelleri

Additional Committee Member 2

Dr. Jianghai Hu

Additional Committee Member 3

Dr. Nicolo Michelusi