Doctor of Philosophy, The Ohio State University, 2022, Computer Science and Engineering
Fully autonomous aerial systems (FAAS) combine edge and cloud hardware with
UAVs and considerable software support to create self-governing systems. FAAS
complete complicated missions with no human piloting by sensing and responding
to their environment in real-time. FAAS require highly complex designs to function
properly, including layers of on-board, edge, and cloud hardware and software. FAAS
also necessitate complex software used for controlling low-level UAV actions, data
collection and management, image processing, machine learning, mission planning,
and high-level decision-making which must integrate across the compute hierarchy
effectively to meet autonomy goals in real-time.
The complexity of even a relatively simple FAAS makes efficiency difficult to guarantee. Efficiency, however, is paramount to the effectiveness of a FAAS. FAAS perform missions in resource-scarce environments like natural disaster areas, crop fields,
and remote infrastructure installations. These areas have limited access to computational resources, network connectivity, and power. Furthermore, UAV battery lives
are short, with flight times rarely exceeding 30 minutes. If FAAS are inefficiently
designed, UAV may waste precious battery life awaiting further instructions from
remote compute resources, delaying or precluding mission completion. For this reason, it is imperative that FAAS designers carefully choose or design edge hardware
configurations, machine learning models, autonomy policies, and deployment models. FAAS have the capability to revolutionize a number of industries, but much research must be done to facilitate their usability and effectiveness. In this dissertation,
I outline my efforts toward designing and implementing FAAS that are efficient and
effective. This dissertation will focus on the following five topics encompassing design,
implementation, and applications of FAAS:
§1. Creation of new general and domain-specific machine learning algorithms a (open full item for complete abstract)
Committee: Christopher Stewart (Advisor); Sami Khanal (Committee Member); Anish Arora (Committee Member)
Subjects: Computer Science