Multi-Robot Agreement on a Common Reference Frame
Objective
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.
