The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) uses 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. The main goals for STARMAC include the ability to perform multi-vehicle coordinated tests in order to validate cooperative and non-cooperative multi-agent control algorithms in real time and in a real, variable, outdoor environment. Specifically, collision and obstacle avoidance, trajectory determination, task assignment and coordinated search algorithms are tested.
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