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A Modular ROS package for Linear Temporal Logic based Motion Planning


Abstract Objective of this thesis project is to build a prototype using Linear Temporal Logic specifications for generating a 2D motion plan commanding an iRobot to fulfill the specifications. This thesis project was created for Cyber Physical Systems Lab in Arizona State University. The end product of this thesis is creation of a software solution which can be used in the academia and industry for research in cyber physical systems related applications. The major features of the project are: creating a modular system for motion planning, use of Robot Operating System (ROS), use of triangulation for environment decomposition and using stargazer sensor for localization. The project is built on an open source software called ROS which provides an envi... (more)
Created Date 2013
Contributor Pandya, Parth Ashwinkumar (Author) / Fainekos, Georgios (Advisor) / Dasgupta, Partha (Committee member) / Lee, Yann-Hang (Committee member) / Arizona State University (Publisher)
Subject Computer science
Type Masters Thesis
Extent 78 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note M.S. Computer Science 2013
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis