This paper presents a virtual reality simulation testbed for evaluation of collaborative control efforts using unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV). The UGVs are governed by differential drive vehicle kinematics, while the nonlinear dynamics of a quadrotor UAV are implemented. In addition, the system is built with modularity in mind so as to allow for easy expansion of multiple UGVs and UAVs working in collaboration. Such a simulation system allows for research in vehicle control, path planning, formation structures, and centralized/distributed control topologies to be easily and cost effectively explored. As a bonus, virtual cameras are mounted on each vehicle allowing exploration into control using visual feedback mechanisms. This paper describes the simulation testbed architecture, implementation of the dynamics and extended Kalman filter observers, and base-line control laws developed for stabilization and tracking.

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