The lab includes an indoor test-bed emulating real world complexities and constraints. It is composed of an indoor motion capture system providing in real-time six-degree-of-freedom estimates for tracked vehicles that include quadrotors, micro coaxial helicopters, and ground vehicles. The closed-loop guidance and autopilot of the vehicles is attained by employing these estimates, which are processed in a PC, as feedback. The computed control commands for all vehicles are synchronously transmitted through standard radio remote controls. This architecture allows for the addition of new vehicles in a short time at low cost, since no embedded hardware is installed on the vehicles. This enables us to avoid being overly conservative during flight testing.
