Distributed Coordination and control Experiments on a Multi-UAV Testbed Ellis T King elor of Engineerin The State University of buffalo, 2002 Submitted to the Department of Aeronautics and Astronautics in partial fulfillment of the requirements for the degree of Master of Science in Aeronautics and Astronautics t the MASSACHUSETTS INSTITUTE OF TECHNOLOGY September 2004 C Massachusetts Institute of Technology 2004 Authe Department of Aeronautics and astronautics August 20. 2004 Certified b Associate professor Thesis Supervisor Accepted by Jaime Peraire Professor of aeronautics and astronautics Graduate Studec Distributed Coordination and Control Experiments on a Multi­UAV Testbed by Ellis T. King Bachelor of Engineering The State University of Buffalo, 2002 Submitted to the Department of Aeronautics and Astronautics in partial fulfillment of the requirements for the degree of Master of Science in Aeronautics and Astronautics at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY September 2004 � Massachusetts Institute of Technology 2004. Author . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Department of Aeronautics and Astronautics August 20, 2004 Certified by. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Jonathan P. How Associate Professor Thesis Supervisor Accepted by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Jaime Peraire Professor of Aeronautics and Astronautics Chair, Committee on Graduate Students