Unmanned helicopter formation flight experiment for the study of mesh stability

Elaine Shaw, Hoam Chung, J. Karl Hedrick, Shankar Sastry

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

4 Citations (Scopus)


The authors have performed formation flights of UAVs using two of UC Berkeley's BEAR unmanned helicopters together in realtime with a simulated leader and six simulated helicopters. The goal of this experiment was to verify the mesh stability theory. The experimental results differ from the ideal theoretical results. Upon closer examination, this discrepancy is due to the effects of having a heterogeneous formation while the theory used is meant for homogeneous formations. While much work remains to be done, we can still show that using leader information in the control law is better than not using leader information. However, a new question arises regarding how one should define mesh stability for a heterogeneous mesh.

Original languageEnglish
Title of host publicationCooperative Systems
Subtitle of host publicationControl and Optimization
Number of pages20
Publication statusPublished - 1 Dec 2007
Externally publishedYes

Publication series

NameLecture Notes in Economics and Mathematical Systems
ISSN (Print)0075-8442

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