Multi-Robot Agreement on a Common Reference Frame


The objective of the thesis is to implement a distributed algorithm to let the Multi-Robot system reach an agreement towards a common reference frame in a 2-dimensional space. The acquired knowledge could be used as a "Rosetta Stone" to exchange data by exploiting a "common language", that is to exchange the information referred to the local reference fame of each robot, unknown to the other robots, by exploiting the estimated common reference frame. This would allows to significantly simplify the achievement of several tasks, such as the distributed-mapping. Possibly, some theoretical aspects concerning the robustness of the proposed distributed algorithm against noisy measurements could be also investigated.

Required Skills

The candidate should be familiar with Linear Algebra. Furthermore, he/she  should have a good knowledge of the C/C++ programming languages.