Full metadata
Title
A modular ROS package for linear temporal logic based motion planning
Description
Objective of this thesis project is to build a prototype using Linear Temporal Logic specifications for generating a 2D motion plan commanding an iRobot to fulfill the specifications. This thesis project was created for Cyber Physical Systems Lab in Arizona State University. The end product of this thesis is creation of a software solution which can be used in the academia and industry for research in cyber physical systems related applications. The major features of the project are: creating a modular system for motion planning, use of Robot Operating System (ROS), use of triangulation for environment decomposition and using stargazer sensor for localization. The project is built on an open source software called ROS which provides an environment where it is very easy to integrate different modules be it software or hardware on a Linux based platform. Use of ROS implies the project or its modules can be adapted quickly for different applications as the need arises. The final software package created and tested takes a data file as its input which contains the LTL specifications, a symbols list used in the LTL and finally the environment polygon data containing real world coordinates for all polygons and also information on neighbors and parents of each polygon. The software package successfully ran the experiment of coverage, reachability with avoidance and sequencing.
Date Created
2013
Contributors
- Pandya, Parth (Author)
- Fainekos, Georgios (Thesis advisor)
- Dasgupta, Partha (Committee member)
- Lee, Yann-Hang (Committee member)
- Arizona State University (Publisher)
Topical Subject
Resource Type
Extent
viii, 69 p. : ill. (some col.)
Language
Copyright Statement
In Copyright
Primary Member of
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.I.17955
Statement of Responsibility
by Parth Pandya
Description Source
Viewed on Dec. 11, 2013
Level of coding
full
Note
Partial requirement for: M.S., Arizona State University, 2013
Note type
thesis
Includes bibliographical references (p. 56-59)
Note type
bibliography
Field of study: Computer science
System Created
- 2013-07-12 06:25:00
System Modified
- 2021-08-30 01:41:22
- 2 years 7 months ago
Additional Formats