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Interest in designing, manufacturing, and using autonomous robots has beenrapidly growing during the most recent decade. The main motivation for thisinterest is the wide range of potential applications these autonomous systemscan serve in. The applications include, but are not limited to, area coverage,patrolling missions, perimeter surveillance, search and rescue missions, andsituational awareness. In this thesis, the area of control and state estimationin non-holonomic mobile robots is tackled. Herein, optimization based solutionsfor control and state estimation are designed, analyzed, and implemented tosuch systems. One of the main motivations for considering such solutions istheir ability of handling constrained and nonlinear systems such asnon-holonomic mobile robots. Moreover, the recent developments in dynamicoptimization algorithms as well as in computer processing facilitated thereal-time implementation of such optimization based methods in embeddedcomputer systems.

Optimization Based Solutions for Control and State Estimation in  Non-holonomic Mobile Robots: Stability, Distributed Control, and Relative  Localization