Honors College Thesis

 

Implementation of Distributed Localized Communications Public Deposited

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https://ir.library.oregonstate.edu/concern/honors_college_theses/gm80j3750

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  • Artificial collectives are useful for accomplishing tasks that require teamwork from multiple simple robots. Multiple robot and collective testbeds have been developed, yet none stay committed to leverage the local interactions, group size, and imperfect information assumptions that strengthen biological collectives. A review of the collective and multiple robot literature, focused on scalable localization systems is presented. The Indoor Collective Robotics Testbed is introduced to bridge the gap between simulation and outdoor operating environments. The Bitcraze Loco Positioning System is chosen as the localization system for the Indoor Collective Robotics Testbed, and the necessary hardware and integration is developed for the collective's ground robot, the Centurion. The system is validated using stationary experiments across the testbed, and the hardware shows excellent performance compared to the reference measurements from a Bitcraze Crazyflie 2.0 equipped with the Loco Positioning System deck. The Centurion's localization algorithm, the extended Kalman filter, does not perform within specification, thus a potential bug is identified and detailed.
  • Key Words: Collective, Localization, Distributed localization
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