Localisation and Communication for Autonomous Deci-Zebros: Localisation and System Integration

This document describes the Bachelor Graduation Project of the Communication and System integration group of the Zebro Localisation and Communication Module. The module has been designed for a Zebro which is a six legged robot with the purpose of working in swarm-related behaviour. To make this behaviour possible a new Localisation module for Zebro as well as a communication module has been designed with a corresponding processing unit. This thesis consists of two arts; the first part covers the development of a communication module capable of autonomous communication in an homogeneous network where no predefined routes are available, also known as a mesh network. The second part covers the integration of the communication, ranging and processing subgroups from which all the components are to be placed on a printed circuit board.Zebro ProjectElectrical Engineerin