LQG-based proximity maneuver between two RINGS vehicles (3rd Path Following Controller)

This video is part of a research conducted on 2018, which briefly shows the ability of the developed control systems to navigate and perform proximity maneuver (Path 3) and tracking between two RINGS vehicles equipped with vision-based sensors (called SVGS) and operates in a frictionless environment using air bearings.

Actuators used in this video are electric ducted fans (8 EDF in each vehicle allow it to navigate in 3-DOF experimental setup)

Controllers were designed based on a model-based LQG compensator and implemented on Arduino DUE boards.

The feedback signals (relative position and orientation between moving vehicles) of the closed-loop control system are provided by two sensors:
SVGS - Smartphone video guidance sensor (developed by NASA-MSFC)
And a Gyroscope