Abstract-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 largescale 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.

As unmanned aerial systems (UAS) continue to increasingly require greater integration of sophisticated software systems, developing and utilizing best practices and principles of formal software systems engineering can enhance and ensure the safety, reliability, and performance of these systems. This paper highlights the detailed implementation of a number of such tools, including agile software development methods such as automated software testing, and enhanced simulationin-the-loop testing for multi-UAS virtual and live-fly capabilities. Significant and tangible benefit to active field experimentation is demonstrated through description of these integrated approaches, impacting ongoing efforts in multi-UAS research, testing, and assessment practices.

Abstract-Increasing unmanned aerial vehicle (UAV) capabilities and decreasing costs have facilitated growing interest in the development of large, multi-UAV systems, or swarms. The constrained communications environments in which these swarms operate, however, have limited the development of behaviors that require a high degree of deliberative coordination. This work presents two algorithms that use a consensusalgorithm approach to reliably exchange information throughout large swarms as a means of facilitating swarm behavior coordination. Results from experiments conducted in simulation and live-fly exercises are presented and discussed.

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