[cosc-grad-students-list] Thesis I Presentation

[Katangur, Ajay]

Hello All,

Please try to attend the Thesis I presentation today by Mehmet Ozkan in Anchor Ballroom C located in UC. The presentation will be for 15 minutes (10 minute talk + 5 minutes of questions).

Title: A Map Building and Path Planning Algorithm for Unmanned Air and Surface Vehicles in Cooperative Systems
Abstract: Recent years have seen an increasing number of research areas using unmanned aerial vehicles (UAV). Mapping and path planning in disaster scenarios is an area that has benefited from aerial imaging. There are some studies demonstrating the effectiveness of a cooperative unmanned aerial and ground vehicles system in disaster rescue operations. In contrast, the combination of unmanned aerial and surface vehicle (UAV/USV) systems has not had much attention. This research proposes a novel map generation and path planning algorithm, which will make use aerial information from the UAV to provide data from a large area, but with uncertainties, and surface information from the USV, which is local, but mostly free of uncertainties. Using the UAV generated map, a fuzzy logic-based path planning algorithm is applied to find near-optimal paths for the USV, between initial and target points. This solution is further improved by means of a feedback structure, where local information gathered with the USV is incorporated as soon as it becomes available, ultimately reducing uncertainties in the map. Simulations and experimental applications in a controlled environment will be used to demonstrate the effectiveness and applicability of the proposed approach for improving flood rescue operations by using UAV/USV cooperative system.

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Ajay K Katangur, Ph.D.

Associate Professor and
Program Coordinator of Computer Science

Texas A&M University - Corpus Christi
Center for Instruction - CI 340

Phone: 361-825-2478 FAX: 361-825-2795

Email: ajay.katangur at tamucc.edu<mailto:ajay.katangur at tamucc.edu>

WWW: http://faculty.tamucc.edu/~akatangur
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