Collaborative Simultaneous Localisation and Mapping for a Swarm of Flying Robots in an Indoor Environment

This research explored a way of providing situational awareness inside potentially damaged buildings to disaster management teams using swarms of aerial robots. The aim was to equip robots with technology that enables mapping with limited resources and without any aid from a centralised station or reliance on external infrastructure. This work is an important step towards the realisation of robotic systems with higher levels of autonomy, scalability and robustness at lower costs, enabling their usability in real-life application scenarios like disaster situations to provide knowledge that would help in saving lives.