Distributed estimation algorithms for autonomous
systems
Name
Oneci-codrin-SM-AeroAstro-2023-thesis[9].pdf
Description
Thesis PDF
Size
17.02 MB
Format
Adobe PDF
Checksum (MD5)
9d4ef1195190062d7fc7731594988d84
Author(s)
Oneci, Codrin P.
Advisor(s)
How, Jonathan P.
Date Issued
June 2023
Publisher
Massachusetts Institute of Technology
Abstract
This thesis investigates the theory and applications of distributed estimation algorithms. It was found that for specific objective functions, general meshes of distributed agents may estimate a state while maintaining a consensus over its PDF and satisfying communication/localization objective constraint at the same time. Hyperparameter tuning techniques for multiple algorithms preventing RMSE drift and communication network inefficient usage are described. An example of distributed algorithm application with rovers shows the power of such algorithms in robotics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Attribution-NonCommercial 4.0 International (CC BY-NC 4.0)
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