Cowlagi, Raghvendra V.
The objective of this project is to demonstrate the following interactive planning and sensing technique of coordinating actions for a team of autonomous vehicles. We consider the problem of planning the path of one of these vehicles, the actor, to traverse a threat field with minimum threat exposure. The threat field is estimated by measurements taken by several sensor vehicles. The actor and the sensors interact iteratively to converge upon sensor placement in the domain and a path with minimum expected threat exposure to the actor. The actor vehicle is implemented by a differential-drive robot, whereas the sensor vehicles are implemented by quadrotors designed to localize and fly themselves indoors. Test results are reported for each of the subsystems involved in the experimental setup.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering