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1	Distributed Algorithms for Multi-robot Autonomy Zehui Lu (18953791) 02 July 2024 (has links) <p dir="ltr">Autonomous robots can perform dangerous and tedious tasks, eliminating the need for human involvement. To deploy an autonomous robot in the field, a typical planning and control hierarchy is used, consisting of a high-level planner, a mid-level motion planner, and a low-level tracking controller. In applications such as simultaneous localization and mapping, package delivery, logistics, and surveillance, a group of autonomous robots can be more efficient and resilient than a single robot. However, deploying a multi-robot team by directly aggregating each robot's planning hierarchy into a larger, centralized hierarchy faces challenges related to scalability, resilience, and real-time computation. Distributed algorithms offer a promising solution for introducing effective coordination within a network of robots, addressing these issues. This thesis explores the application of distributed algorithms in multi-robot systems, focusing on several essential components required to enable distributed multi-robot coordination, both in general terms and for specific applications.</p> Automation engineering Control engineering Field robotics Manufacturing robotics Electrical machines and drives Distributed systems and algorithms Dynamical systems in applications Theoretical and applied mechanics Optimisation Distributed Algorithms Multi Agent System Multi Robot System Distributed Optimization Mission Planning Co-design Algorithms Model Predictive Control Mobile Manipulator Motion Planning and Control Differentiable Dynamics Modeling Motor Co-design

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Distributed Algorithms for Multi-robot Autonomy