College of Engineering Theses and Dissertations
Permanent URI for this collectionhttps://hdl.handle.net/1969.6/94188
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Browsing College of Engineering Theses and Dissertations by Author "Carrillo, Luis Garcia"
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Item A Cooperative object transport system with behavior-based robots(2018-08) Ramaswamy Balasubramanian, Arun Prassanth; Ramaswamy Balasubramanian, Arun Prassanth; King, Scott A.; Carrillo, Luis Garcia; Katangur, Ajay; Katangur, AjayCooperative object transport is an intriguing research area in swarm and multi-agent robotic systems. Global-view is a challenge in cooperative transport where different aspects such as providing the global picture, what information to share and how to share are still being explored. One simple way of addressing global view is by using a situated agent which has an elevated view of the environment and capable of communicating it. Various works that employ this strategy often rely on a centralized or global control where the agent with the global view makes the decisions. We propose a strategy modeled after Behavior-Based Robotics principles which enables the robots to react to the environment and thereby achieve cooperation to accomplish the task. Instead of relying on a sophisticated controller or a centralized leader, the robots simply react to the stimuli in different ways by executing simple behaviors from their own repertoire. The 'Observer', a situated agent with the global view has no decision-making responsibilities and simply serves as a means of stimulus. Also, the Observer employs simple techniques to extract and share very limited information with other agents. Different experiments were performed with real robots and various metrics were collected to demonstrate and evaluate the strategy.Item Using a USV to efficiently clear uncertainty from aerial images for rescue boat path planning in flooded urban environments(2019-05) Ozkan, Mehmet; King, Scott A.; Carrillo, Luis Garcia; Xie, JunfeiMapping and path planning in disaster scenarios is an area that has bene ted from aerial imaging and unmanned aerial vehicles (UAVs). However, the integration of an unmanned surface vehicle (USV) in flood rescue operations has not received much attention. We propose a novel map generation and path planning algorithm, which makes use of aerial imaging provided by a UAV in combination with surface level information provided by a USV. Since the aerial image is a 2D projection of a 3D world, some areas of interest could be uncertain, such as under trees. Despite this issue, a Probabilistic Roadmap (PRM) path planning algorithm can be applied to the image in order to nd near-optimal paths for a rescue boat between initial and target locations. With the method proposed here, the preliminary PRM solution is further improved by means of an online feedback structure, where local information provided by the USV is incorporated to the overall map as soon as it becomes available, eliminating uncertainties. Simulation results demonstrate the effectiveness of the proposed approach for improving the time response in search and rescue operations in flooded areas.