2026-09-19T04:36:02Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1516952023-08-01T03:56:57Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
How, Jonathan P.
Oneci, Codrin P.
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
2023-07-31T19:59:40Z
2023-07-31T19:59:40Z
2023-06
2023-06-16T11:31:15.061Z
https://hdl.handle.net/1721.1/151695
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.
S.M.
Massachusetts Institute of Technology
Attribution-NonCommercial 4.0 International (CC BY-NC 4.0)
Copyright retained by author(s)
https://creativecommons.org/licenses/by-nc/4.0/
Distributed estimation algorithms for autonomous
systems
Thesis
application/pdf
Master
Master of Science in Aeronautics and Astronautics
Publication
unknown
unknown
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