Network-Decentralized Simultaneous Localization and Mapping by Multi-Agent Systems

Multi-Agent Systems (MAS) can be used in the exploration and mapping of unknown environments. To cooperate autonomously, each agent of the MAS must know its own location precisely within such an environment. Simultaneous Localization and Mapping (SLAM) techniques are commonly used when the Global Positioning System (GPS) is unavailable or does...

Network Decentralized Collision Avoidance with Applications in a Scalable Unmanned Aerial System Testbed

Decentralized control and estimation are both active research areas in the field of systems and control. A new approach to these topics utilizes graph theory to characterize inter-agent communication as a graph that, in this thesis, can have time-varying topology. This approach has been named "network-decentralized" and the use of network...