A networked and cooperative control testbed

This paper describes a testbed facility - the HoTDeC (HOvercraft Testbed for DEcentralized Control) - developed by the authors at the University of Illinois, consisting of multiple autonomous hovercraft vehicles which are wirelessly networked. This facility provides a flexible and state-of-the-art testbed for experimentation with inter-networked vehicles and sensors for decentralized and cooperative control, in a dynamically nontrivial setting.