Terrestrial Testing of Multi-Agent, Relative Guidance, Navigation, and Control Algorithms

The rise in small, distributed satellite applications has led to an increased interest in multi-agent, cooperative guidance, navigation, and control (GNC) strategies. In order to integrate and test algorithms associated with a multi-agent cooperative environment, the Cooperative Autonomous Networked Systems (CANS) Lab was developed. Multiple three-wheeled, omni-directional ground robots with on-board sensor suites enable hardware-in-the-loop testing while adhering to planar relative dynamics. A software framework has been established to enable accurate dynamics simulation using Clohessy-Wiltshire-Hill (CWH) dynamics. In this paper, the CANS lab is demonstrated through the use of an example formation flying application which incorporates uncertain scenario parameters.