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NFyza Thesis.pdf (1.5 MB)

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Swarm Robotics for Contaminant Localization aided by Remote-sensor-based Target Mapping with Uncertainty

Fyza, Nashiyat
http://orcid.org/0000-0002-8032-8713
http://rave.ohiolink.edu/etdc/view?acc_num=toledo1628542693625877

Abstract Details

2021, Master of Science in Mechanical Engineering, University of Toledo, Mechanical Engineering.
Mitigating harmful Algal Bloom (HAB) has been a great challenge for the scientists in the recent decades. HAB imposes treat to the surrounding ecosystem. A wide range of chemical and physical methods have been implemented to mitigate HAB. Proper area mapping is the first step to mitigate HAB. This work optimizes early HAB mapping with uncertainty input data using swarm boats. In this work simulation was performed for high-end algae likelihood distribution, flat-end algae likelihood distribution, and low-end algae likelihood distribution. Over the course of study, the mapping time was investigated when important parameters like number of boats, likelihood importance, initial boat positions were varied. The simulation does not consider the physical parameters like wave and unanticipated sensor error. The second part of this work compared the simulation derived results with the real-world experiment data.
Brian Trease (Committee Chair)
Anju Gupta (Committee Member)
Adam Schroeder (Committee Member)
61 p.
Mechanical Engineering
Swarm Robotics, Optimization, Algae Mapping

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Citations

  • Fyza, N. (2021). Swarm Robotics for Contaminant Localization aided by Remote-sensor-based Target Mapping with Uncertainty [Master's thesis, University of Toledo]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1628542693625877

    APA Style (7th edition)

  • Fyza, Nashiyat. Swarm Robotics for Contaminant Localization aided by Remote-sensor-based Target Mapping with Uncertainty. 2021. University of Toledo, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=toledo1628542693625877.

    MLA Style (8th edition)

  • Fyza, Nashiyat. "Swarm Robotics for Contaminant Localization aided by Remote-sensor-based Target Mapping with Uncertainty." Master's thesis, University of Toledo, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1628542693625877

    Chicago Manual of Style (17th edition)

toledo1628542693625877
225
© 2021, some rights reserved.Creative Commons License Swarm Robotics for Contaminant Localization aided by Remote-sensor-based Target Mapping with Uncertainty by Nashiyat Fyza is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by University of Toledo and OhioLINK.