Publication Date


Document Type


Committee Members

Josh Ash (Committee Member), Zachariah Fuchs (Advisor), John Gallagher (Committee Member)

Degree Name

Master of Science in Electrical Engineering (MSEE)


Navigation and control algorithms are often tested in a simulated environment before being deployed in physical systems. Although simulated environments provide a controlled setting to carefully evaluate performance, the designed scenarios are sometimes unrealistically ideal and may unintentionally omit circumstances or unmodeled interactions. This thesis presents the design, implementation, and practical demonstration of a physical testbed that enables the testing of multi-agent autonomous strategies in hardware on a small scale. Testing the algorithms at scale allows real-time exploration of the interaction and performance of both human and autonomous algorithms under non-ideal conditions while avoiding the costs and risks of full-scale, deployed systems. Presented in the following is a detailed robot design for this explicit purpose, and the overall design of the testbed system including software. A dynamic game is evaluated using the described system, and the results are presented.

Page Count


Department or Program

Department of Electrical Engineering

Year Degree Awarded