ASU Electronic Theses and Dissertations
This collection includes most of the ASU Theses and Dissertations from 2011 to present. ASU Theses and Dissertations are available in downloadable PDF format; however, a small percentage of items are under embargo. Information about the dissertations/theses includes degree information, committee members, an abstract, supporting data or media.
In addition to the electronic theses found in the ASU Digital Repository, ASU Theses and Dissertations can be found in the ASU Library Catalog.
Dissertations and Theses granted by Arizona State University are archived and made available through a joint effort of the ASU Graduate College and the ASU Libraries. For more information or questions about this collection contact or visit the Digital Repository ETD Library Guide or contact the ASU Graduate College at gradformat@asu.edu.
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With the correct permits in place, further research can explore how different UAS network topologies behave in an urban environment when implemented with off the shelf UAS hardware. In addition to testing different network topologies, this thesis covers the implementation of building a secure, scalable system using modern cloud computation tools and services capable of supporting a variable number of UAS. The system also supports the end-to-end simulation of the system considering factors such as battery life and realistic UAS kinematics. The implementation of the system leads to new findings needed to deploy UAS fleets in urban environments.
Machines operating in an uncertain Environment (FAME), this thesis addresses several
critical modeling, design, control objectives for rear-wheel drive ground vehicles.
Toward this ambitious goal, several critical objectives are addressed. One central objective of the thesis was to show how to build low-cost multi-capability robot platform
that can be used for conducting FAME research.
A TFC-KIT car chassis was augmented to provide a suite of substantive capabilities.
The augmented vehicle (FreeSLAM Robot) costs less than $500 but offers the capability
of commercially available vehicles costing over $2000.
All demonstrations presented involve rear-wheel drive FreeSLAM robot. The following
summarizes the key hardware demonstrations presented and analyzed:
(1)Cruise (v, ) control along a line,
(2) Cruise (v, ) control along a curve,
(3) Planar (x, y) Cartesian Stabilization for rear wheel drive vehicle,
(4) Finish the track with camera pan tilt structure in minimum time,
(5) Finish the track without camera pan tilt structure in minimum time,
(6) Vision based tracking performance with different cruise speed vx,
(7) Vision based tracking performance with different camera fixed look-ahead distance L,
(8) Vision based tracking performance with different delay Td from vision subsystem,
(9) Manually remote controlled robot to perform indoor SLAM,
(10) Autonomously line guided robot to perform indoor SLAM.
For most cases, hardware data is compared with, and corroborated by, model based
simulation data. In short, the thesis uses low-cost self-designed rear-wheel
drive robot to demonstrate many capabilities that are critical in order to reach the
longer-term FAME goal.
The first part of this dissertation covers methods that resolve some instances of this mismatch when the mission requirements are expressed in Linear Temporal Logic (LTL) for handling coverage, sequencing, conditions and avoidance. That is, the following general questions are addressed:
* What cause of the given mission is unrealizable?
* Is there any other feasible mission that is close to the given one?
In order to answer these questions, the LTL Revision Problem is applied and it is formulated as a graph search problem. It is shown that in general the problem is NP-Complete. Hence, it is proved that the heuristic algorihtm has 2-approximation bound in some cases. This problem, then, is extended to two different versions: one is for the weighted transition system and another is for the specification under quantitative preference. Next, a follow up question is addressed:
* How can an LTL specified mission be scaled up to multiple robots operating in confined environments?
The Cooperative Multi-agent Planning Problem is addressed by borrowing a technique from cooperative pathfinding problems in discrete grid environments. Since centralized planning for multi-robot systems is computationally challenging and easily results in state space explosion, a distributed planning approach is provided through agent coupling and de-coupling.
In addition, in order to make such robot missions work in the real world, robots should take actions in the continuous physical world. Hence, in the second part of this thesis, the resulting motion planning problems is addressed for non-holonomic robots.
That is, it is devoted to autonomous vehicles’ motion planning in challenging environments such as rural, semi-structured roads. This planning problem is solved with an on-the-fly hierarchical approach, using a pre-computed lattice planner. It is also proved that the proposed algorithm guarantees resolution-completeness in such demanding environments. Finally, possible extensions are discussed.