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ASU Electronic Theses and Dissertations


This collection includes most of the ASU Theses and Dissertations from 2011 to present. ASU Theses and Dissertations are available in downloadable PDF format; however, a small percentage of items are under embargo. Information about the dissertations/theses includes degree information, committee members, an abstract, supporting data or media.

In addition to the electronic theses found in the ASU Digital Repository, ASU Theses and Dissertations can be found in the ASU Library Catalog.

Dissertations and Theses granted by Arizona State University are archived and made available through a joint effort of the ASU Graduate College and the ASU Libraries. For more information or questions about this collection contact or visit the Digital Repository ETD Library Guide or contact the ASU Graduate College at gradformat@asu.edu.


Date Range
2010 2016


Advancements in computer vision and machine learning have added a new dimension to remote sensing applications with the aid of imagery analysis techniques. Applications such as autonomous navigation and terrain classification which make use of image classification techniques are challenging problems and research is still being carried out to find better solutions. In this thesis, a novel method is proposed which uses image registration techniques to provide better image classification. This method reduces the error rate of classification by performing image registration of the images with the previously obtained images before performing classification. The motivation behind this is the fact …

Contributors
Muralidhar, Ashwini, Saripalli, Srikanth, Papandreou-Suppappola, Antonia, et al.
Created Date
2011

There has been extensive study of the target tracking problems in the recent years. Very little work has been done in the problem of continuous monitoring of all the mobile targets using the fewest number of mobile trackers, when the trajectories of all the targets are known in advance. Almost all the existing research discretized time (and/or space), or assume infinite tracker velocity. In this thesis, I consider the problem of covering (tracking) target nodes using a network of Unmanned Airborne Vehicles (UAV's) for the entire period of observation by adding the constraint of fixed velocity on the trackers and …

Contributors
Vachhani, Harsh, Sen, Arunabha, Saripalli, Srikanth, et al.
Created Date
2014

The ocean is vital to the health of our planet but remains virtually unexplored. Many researchers seek to understand a wide range of geological and biological phenomena by developing technologies which enable exploration of the deep-sea. The task of developing a technology which can withstand extreme pressure and temperature gradients in the deep ocean is not trivial. Of these technologies, underwater vehicles were developed to study the deep ocean, but remain large and expensive to manufacture. I am proposing the development of cost efficient miniaturized underwater vehicle (mUV) with propulsion systems to carry small measurement devices and enable deep-sea exploration. …

Contributors
Merza, Saeed Adil, Meldrum, Deirdre R, Chao, Shih-Hui, et al.
Created Date
2014

With robots being used extensively in various areas, a certain degree of robot autonomy has always been found desirable. In applications like planetary exploration, autonomous path planning and navigation are considered essential. But every now and then, a need to modify the robot's operation arises, a need for a human to provide it some supervisory parameters that modify the degree of autonomy or allocate extra tasks to the robot. In this regard, this thesis presents an approach to include a provision to accept and incorporate such human inputs and modify the navigation functions of the robot accordingly. Concepts such as …

Contributors
Vemprala, Sai Hemachandra, Saripalli, Srikanth, Fainekos, Georgios, et al.
Created Date
2013

Multi-sensor fusion is a fundamental problem in Robot Perception. For a robot to operate in a real world environment, multiple sensors are often needed. Thus, fusing data from various sensors accurately is vital for robot perception. In the first part of this thesis, the problem of fusing information from a LIDAR, a color camera and a thermal camera to build RGB-Depth-Thermal (RGBDT) maps is investigated. An algorithm that solves a non-linear optimization problem to compute the relative pose between the cameras and the LIDAR is presented. The relative pose estimate is then used to find the color and thermal texture …

Contributors
Krishnan, Aravindhan K., Saripalli, Srikanth, Klesh, Andrew, et al.
Created Date
2016

There has been a vast increase in applications of Unmanned Aerial Vehicles (UAVs) in civilian domains. To operate in the civilian airspace, a UAV must be able to sense and avoid both static and moving obstacles for flight safety. While indoor and low-altitude environments are mainly occupied by static obstacles, risks in space of higher altitude primarily come from moving obstacles such as other aircraft or flying vehicles in the airspace. Therefore, the ability to avoid moving obstacles becomes a necessity for Unmanned Aerial Vehicles. Towards enabling a UAV to autonomously sense and avoid moving obstacles, this thesis makes the …

Contributors
Lin, Yucong, Saripalli, Srikanth, Scowen, Paul, et al.
Created Date
2015

This project is to develop a new method to generate GPS waypoints for better terrain mapping efficiency using an UAV. To create a map of a desired terrain, an UAV is used to capture images at particular GPS locations. These images are then stitched together to form a complete map of the terrain. To generate a good map using image stitching, the images are desired to have a certain percentage of overlap between them. In high windy condition, an UAV may not capture image at desired GPS location, which in turn interferes with the desired percentage of overlap between images; …

Contributors
Ghadage, Prasannakumar, Saripalli, Srikanth, Berman, Spring M, et al.
Created Date
2014

As networks are playing an increasingly prominent role in different aspects of our lives, there is a growing awareness that improving their performance is of significant importance. In order to enhance performance of networks, it is essential that scarce networking resources be allocated smartly to match the continuously changing network environment. This dissertation focuses on two different kinds of networks - communication and social, and studies resource allocation problems in these networks. The study on communication networks is further divided into different networking technologies - wired and wireless, optical and mobile, airborne and terrestrial. Since nodes in an airborne network …

Contributors
Shirazipourazad, Shahrzad, Sen, Arunabha, Sen, Arunabha, et al.
Created Date
2014

One of the main challenges in planetary robotics is to traverse the shortest path through a set of waypoints. The shortest distance between any two waypoints is a direct linear traversal. Often times, there are physical restrictions that prevent a rover form traversing straight to a waypoint. Thus, knowledge of the terrain is needed prior to traversal. The Digital Terrain Model (DTM) provides information about the terrain along with waypoints for the rover to traverse. However, traversing a set of waypoints linearly is burdensome, as the rovers would constantly need to modify their orientation as they successively approach waypoints. Although …

Contributors
Kamasamudram, Anurag, Saripalli, Srikanth, Fainekos, Georgios, et al.
Created Date
2013

The exponential rise in unmanned aerial vehicles has necessitated the need for accurate pose estimation under any extreme conditions. Visual Odometry (VO) is the estimation of position and orientation of a vehicle based on analysis of a sequence of images captured from a camera mounted on it. VO offers a cheap and relatively accurate alternative to conventional odometry techniques like wheel odometry, inertial measurement systems and global positioning system (GPS). This thesis implements and analyzes the performance of a two camera based VO called Stereo based visual odometry (SVO) in presence of various deterrent factors like shadows, extremely bright outdoors, …

Contributors
Dhar, Anchit, Saripalli, Srikanth, Li, Baoxin, et al.
Created Date
2010