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Barrett, The Honors College at Arizona State University proudly showcases the work of undergraduate honors students by sharing this collection exclusively with the ASU community.

Barrett accepts high performing, academically engaged undergraduate students and works with them in collaboration with all of the other academic units at Arizona State University. All Barrett students complete a thesis or creative project which is an opportunity to explore an intellectual interest and produce an original piece of scholarly research. The thesis or creative project is supervised and defended in front of a faculty committee. Students are able to engage with professors who are nationally recognized in their fields and committed to working with honors students. Completing a Barrett thesis or creative project is an opportunity for undergraduate honors students to contribute to the ASU academic community in a meaningful way.

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Algorithms for Tracking with a Foveal Sensor

Description
Foveal sensors employ a small region of high acuity (the foveal region) surrounded by a periphery of lesser acuity. Consequently, the output map that describes their sensory acuity is nonlinear, rendering the vast corpus of linear system theory inapplicable immediately to the state estimation of a target being tracked by…

Foveal sensors employ a small region of high acuity (the foveal region) surrounded by a periphery of lesser acuity. Consequently, the output map that describes their sensory acuity is nonlinear, rendering the vast corpus of linear system theory inapplicable immediately to the state estimation of a target being tracked by such a sensor. This thesis treats the adaptation of the Kalman filter, an iterative optimal estimator for linear-Gaussian dynamical systems, to enable its application to the nonlinear problem of foveal sensing. Results of simulations conducted to evaluate the effectiveness of this algorithm in tracking a target are presented, culminating in successful tracking for motion in two dimensions.
ContributorsSpell, Gregory Paul (Co-author) / Cochran, Douglas (Thesis director) / Morrell, Darryl (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / School of Historical, Philosophical and Religious Studies (Contributor)
Created2015-05