HoTDeC
HoTDeC (HOvercraft Testbed for DEcentralized Control) is an autonomous vehicle testbed developed at University of Illinois at Urbana-Champaign. It consists of several autonomous, wirelessly inter-connected hovercraft that can be operated via the internet.
Hovercraft vehicles in a figure-8 formation
In 2001, HoTDeC was the first ever testbed that featured agents with the following properties:
- Fully autonomous
- Inter-networked
- Marginally stable
- Peer-affecting dynamics (peer drag and thrust effects similar to interacting aircraft)
- Controlled using wireless feedback
During a 2004 paper presentation, the research group demonstrated the testbed while connected to the lab through the internet in real-time.
References
- A. Stubbs, V. Vladimerou, A. Fulford, D. King, J. Strick, and G. Dullerud: Multivehicle Systems Control over Networks, IEEE Control Systems Magazine, June 2006, Vol. 26, No 3, pp 56–69
- University of Illinois at Urbana - Champaign
- Mechanical and Industrical Engineering Department at UIUC
- Research Group's webpage
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