Date of Award

12-2025

Document Type

Thesis

Publisher

Santa Clara : Santa Clara University, 2025

Degree Name

Master of Science (MS)

Department

Electrical and Computer Engineering

First Advisor

Maria Kyrarini

Abstract

As society continues to progress with robotics and automation, the significance of multi-robot systems continues to increase. Single robot systems are limited in their capacity to carry out certain types of tasks, similar to how one person is limited. When it comes to carrying large, cumbersome objects that would require multiple entities to move in a coordinated manner, it is very apparent that implementing a multi-robot system is necessary. Multi-robot systems have become a sector of robotics of increasing interest due to the multitude of use cases they are able to fulfill. However, scalability is a large part of the issue in terms of cost and computational load. This is where Visual Simultaneous Localization and Mapping (V-SLAM) and decentralized frameworks come into play. Cameras possess similar three-dimensional (3D) perception capabilities as 3D LiDAR, but are far less expensive and decentralized systems, although more difficult to implement, allowing each robot to handle its own computations and decision making, which disperses the load. This thesis discusses the benefits of V-SLAM as well as a decentralized multi-robot system framework.

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