Robust Robotic Operations in the Presence ofUncertainties

Autonomous robotic systems often encounter varying degrees of uncertainty. Characteristics of an environment or mission, such as the definition of a terrain, the presence of an attacker, or the necessary sub-goals may have dramatic impacts on mission performance. Guaranteeing reliable execution demands an analysis of these uncertainties in order to ensure some form of robust operation, such as continual performance in the presence of failures. In this thesis, we present contributions related to robust operations of multi-robot coordination and autonomous exploration and an in-depth analysis of LiDAR-related uncertainties.