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Description
A common design of multi-agent robotic systems requires a centralized master node, which coordinates the actions of all the agents. The multi-agent system designed in this project enables coordination between the robots and reduces the dependence on a single node in the system. This design change reduces the complexity of the central node, and makes the system more adaptable to changes in its topology. The final goal of this project was to have a group of robots collaboratively claim positions in pre-defined formations, and navigate to the position using pose data transmitted by a localization server.
Planning coordination between robots in a multi-agent system requires each robot to know the position of the other robots. To address this, the localization server tracked visual fiducial markers attached to the robots and relayed their pose to every robot at a rate of 20Hz using the MQTT communication protocol. The robots used this data to inform a potential fields path planning algorithm and navigate to their target position.
This project was unable to address all of the challenges facing true distributed multi-agent coordination and needed to make concessions in order to meet deadlines. Further research would focus on shoring up these deficiencies and developing a more robust system.
Planning coordination between robots in a multi-agent system requires each robot to know the position of the other robots. To address this, the localization server tracked visual fiducial markers attached to the robots and relayed their pose to every robot at a rate of 20Hz using the MQTT communication protocol. The robots used this data to inform a potential fields path planning algorithm and navigate to their target position.
This project was unable to address all of the challenges facing true distributed multi-agent coordination and needed to make concessions in order to meet deadlines. Further research would focus on shoring up these deficiencies and developing a more robust system.
ContributorsThibeault, Quinn (Author) / Meuth, Ryan (Thesis director) / Chen, Yinong (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
Even in the largest public university in the country, computer related degrees such as Computer Science, Computer Systems Engineering and Software Engineering have low enrollment rates and high dropout rates. This is interesting because the careers that require these degrees are marketed as the highest paying and most powerful. The goal of this project was to find out what the students of Arizona State University (ASU) thought about these majors and why they did or did not pick them. A total of 206 students were surveyed from a variety of sources including upper level classes, lower level classes and Barrett, the Honors College. Survey questions asked why the students picked their current major, if they had a previous major and why did they switch, and if the students had considered one of the three computer related degrees. Almost all questions were open ended, meaning the students did not have multiple choice answers and instead could write as short or as long of a response as needed. Responses were grouped based on a set of initial hypotheses and any emerging trends. These groups were displayed in several different bar graphs broken down by gender, grade level and category of student (stayed in a computer related degree, left one, joined one or picked a non-computer related degree). Trends included students of all grade levels picking their major because they were passionate or interested in the subject. This may suggest that college students are set in their path and will not switch majors easily. Students also reported seeing computer related degrees as too difficult and intimidating. However, given the low (when compared to all of ASU) number of students surveyed, the conclusions and trends given cannot be representative of ASU as a whole. Rather, they are just representative of this sample population. Further work on this study, if time permitted, would be to try to survey more students and question some of the trends established to find more specific answers.
ContributorsMeza, Edward L (Author) / Meuth, Ryan (Thesis director) / Miller, Phillip (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-12
Description
Artistic expression can be made more accessible through the use of technological interfaces such as auditory analysis, generative artificial intelligence models, and simplification of complicated systems, providing a way for human driven creativity to serve as an input that allow users to creatively express themselves. Studies and testing were done with industry standard performance technology and protocols to create an accessible interface for creative expression. Artificial intelligence models were created to generate art based on simple text inputs. Users were then invited to display their creativity using the software, and a comprehensive performance showcased the potential of the system for artistic expression.
ContributorsPardhe, Joshua (Author) / Lim, Kang Yi (Co-author) / Meuth, Ryan (Thesis director) / Brian, Jennifer (Committee member) / Hermann, Kristen (Committee member) / Barrett, The Honors College (Contributor) / Dean, W.P. Carey School of Business (Contributor) / Watts College of Public Service & Community Solut (Contributor) / Computer Science and Engineering Program (Contributor)
Created2022-05
Description
Artistic expression can be made more accessible through the use of technological interfaces such as auditory analysis, generative artificial intelligence models, and simplification of complicated systems, providing a way for human driven creativity to serve as an input that allow users to creatively express themselves. Studies and testing were done with industry standard performance technology and protocols to create an accessible interface for creative expression. Artificial intelligence models were created to generate art based on simple text inputs. Users were then invited to display their creativity using the software, and a comprehensive performance showcased the potential of the system for artistic expression.
ContributorsLim, Kang Yi (Author) / Pardhe, Joshua (Co-author) / Meuth, Ryan (Thesis director) / Brian, Jennifer (Committee member) / Hermann, Kristen (Committee member) / Barrett, The Honors College (Contributor) / Computer Science and Engineering Program (Contributor)
Created2022-05
Description
For the purpose of exploring alternative uses for Rolplay’s image processing technology, I have developed a scavenger hunt application that utilizes object detection technology. This concept has been chosen out of three different application concepts that have been created during the first semester of the project. The application runs on Android devices and is written in Java. This application contains a camera display window and a button that the user may press to open the list of items. The list will display each item in the list and whether it has been detected from the camera stream. In addition, the list has a refresh button that will generate a new list of items after it is pressed. This is to allow users to either continue searching for items after every item in the current list has been found. or create a new list entirely if they wish to start over. The application will also detect low light status and display a message prompting the user to turn on their flashlight if low light is detected. During the development process, additional modifications have been made according to feedback from users that have tested the app.
ContributorsGuo, Lingfeng (Author) / Meuth, Ryan (Thesis director) / Perea, Fernando (Committee member) / Barrett, The Honors College (Contributor) / Computer Science and Engineering Program (Contributor)
Created2022-05