Swarm Robotics: Harvesting of Moving Swarms Represented by a Markov Process

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dc.contributor.advisorBecker, Aaron T.
dc.contributor.committeeMemberRadford, Nicolaus A.
dc.contributor.committeeMemberJackson, David R.
dc.creatorBhatnagar, Shriya
dc.creator.orcid0000-0001-5878-9188
dc.date.accessioned2020-01-04T02:28:48Z
dc.date.createdMay 2019
dc.date.issued2019-05
dc.date.submittedMay 2019
dc.date.updated2020-01-04T02:28:48Z
dc.description.abstractThis project presents methods of harvesting moving swarm agents, with two different experimental applications. We investigated motion planning for one or more robot(s). These methods differ from traditional motion planning problems because the agents move. This allows areas that were previously cleared to become recontaminated. The movement of agents is represented by a Markov process that encodes the agents' preferred regions and their speed of motion. There are two different categories of controllers presented in this project, one for single robot applications and a second for multi-robot applications. We conducted experiments using the single robot controllers. For the first application we studied a destructive survey of mosquitoes. We researched behavior and other characteristic of mosquitoes to design an electrified screen that can be carried on a UAV. For the second application we studied the harvesting of moving swarms using an autonomous robotic boat with an acoustic larvicide unit in a body of water.
dc.description.departmentElectrical and Computer Engineering, Department of
dc.format.digitalOriginborn digital
dc.format.mimetypeapplication/pdf
dc.identifier.citationPortions of this document appear in: Nguyen, An, Dominik Krupke, Mary Burbage, Shriya Bhatnagar, Sándor P. Fekete, and Aaron T. Becker. "U sing a UAV for Destructive Surveys of Mosquito Population." In 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 7812-7819. IEEE, 2018.
dc.identifier.urihttps://hdl.handle.net/10657/5749
dc.language.isoeng
dc.rightsThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. UH Libraries has secured permission to reproduce any and all previously published materials contained in the work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).
dc.subjectRobotics
dc.subjectSwarms
dc.subjectMarkov
dc.subjectProcess
dc.subjectControls
dc.subjectSimulations
dc.titleSwarm Robotics: Harvesting of Moving Swarms Represented by a Markov Process
dc.type.dcmiText
dc.type.genreThesis
local.embargo.lift2021-05-01
local.embargo.terms2021-05-01
thesis.degree.collegeCullen College of Engineering
thesis.degree.departmentElectrical and Computer Engineering, Department of
thesis.degree.disciplineElectrical Engineering
thesis.degree.grantorUniversity of Houston
thesis.degree.levelMasters
thesis.degree.nameMaster of Science in Electrical Engineering

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