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The Stanford testbed of autonomous rotorcraft for multi agent control (STARMAC)
Abstract
As an alternative to cumbersome aerial vehicles with considerable maintenance requirements and flight envelope restrictions, the X4 flyer is chosen as the basis for the Stanford testbed of autonomous rotorcraft for multi-agent control (STARMAC). This paper outlines the design and development of a miniature autonomous waypoint tracker flight control system, and the creation of a multi-vehicle platform for experimentation and validation of multi-agent control algorithms. This testbed development paves the way for real-world implementation of recent work in the fields of autonomous collision and obstacle avoidance, task assignment formation flight, using both centralized and decentralized techniques.
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Citations
Cited by
Real-time indoor autonomous vehicle test environment
HOW, J. P., BEHIHKE, B., FRANK, A., DALE, D., & VIAN, J. (2008) · IEEE Control Systems · doi:10.1109/mcs.2007.914691 · Cited by 409
A Fully Autonomous Indoor Quadrotor
Grzonka, S., Grisetti, G., & Burgard, W. (2012) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2162999 · Cited by 386
Wabersich, K. P., Taylor, A. J., Choi, J. J., Sreenath, K., Tomlin, C. J., Ames, A. D., & Zeilinger, M. N. (2023) · IEEE Control Systems · doi:10.1109/mcs.2023.3291885 · Cited by 132
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Metadata
- Authors
- Hoffmann, G., Rajnarayan, D. G., Waslander, S. L., Dostal, D., Jang, J. S., & Tomlin, C. J.
- Venue
- The 23rd Digital Avionics Systems Conference (IEEE Cat. No.04CH37576)
- Publisher
- IEEE
- Published
- 2005-02-22
- Pages
- 12.E.4-121-10
- OpenAlex
- W1535515756
- Cited by
- 288
- References
- 0
- FWCI
- 7.89
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: The Stanford testbed of autonomous rotorcraft for multi agent control (STARMAC). https://app.cochat.ai/papers/10.1109/dasc.2004.1390847
- The paper
- Hoffmann, G., Rajnarayan, D. G., Waslander, S. L., Dostal, D., Jang, J. S., & Tomlin, C. J. (2005). The Stanford testbed of autonomous rotorcraft for multi agent control (STARMAC). The 23rd Digital Avionics Systems Conference (IEEE Cat. No.04CH37576). https://doi.org/10.1109/dasc.2004.1390847
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
