Live-Fly, Large-Scale Field Experimentation For Large Numbers Of Fixed-Wing Uavs

In this paper, we present extensive advances in live-fly field experimentation capabilities of large numbers of fixed-wing aerial robots, and highlight both the enabling technologies as well as the challenges addressed in such large-scale flight operations. We showcase results from recent field tests, including the autonomous launch, flight, and landing of 50 UAVs, which illuminate numerous operational lessons learned and generate rich multi-UAV datasets. We detail the design and open architecture of the testbed, which intentionally leverages low-cost and open-source components, aimed at promoting continued advances and alignment of multi-robot systems research and practice.