{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/18032"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/18032","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Multi-vehicle rover testbed using a new indoor positioning sensor","abstract":"This thesis describes the design and implementation of an indoor multi-rover testbed using a high-precision indoor positioning sensor system. The system model for the rover is derived and used in a Kalman filter that estimates each rover's velocity given the position measurements. These state estimates are then used in high-level path planning and control algorithms. Single and multi-rover tests are performed using single and multi-waypoint path plans. The results from these tests demonstrate the correctness of the system model, estimator, and control algorithms. 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