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Numerical procedures are presented for the systematic computation of unsteady ows over moving airfoils or airfoil combinations, and these procedures are applied to the investigation of apping-wing propulsion and power extraction. Flow solutions about single foils are computed using an unsteady, t wo-dimensional panel code coupled with a boundary layer algorithm and driven using an interactive graphical user interface. Flow solutions about airfoil combinations are computed using a companion, multi-element v ersion of the panel code.Results for pitching-only and plunging-only motions compare favorably with theory and reasonably well with experimental results. Extensive computations are performed over the broad parameter space for combined pitching and plunging motions using the foil as both a propulsive device and as a wingmill or power-extraction device. Results modeling ight i n ground e ect are compared with other numerical and experimental results.

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.