This paper and video present the components and flight tests of an indoor, multi-vehicle testbed that was
developed to study long duration UAV missions in a controlled environment. This testbed is designed to use real
hardware to examine research questions related to single- and multi-vehicle health management, such as vehicle
failures, refueling, and maintenance.  The testbed has both aerial and ground vehicles that operate autonomously
in a large, indoor flight test area and can be used to execute many different mission scenarios.  The success of
this testbed is largely related to our choice of vehicles, sensors, and the system's command and control
architecture.  The video presents flight test results from single- and multi-vehicle experiments over the past
year.