Modeling Mobile Cyber-Physical Systems’ 2D Navigation Control Logic

Document Type

Student Presentation

Presentation Date



College of Engineering


Computer Science

Faculty Sponsor

Hoda Mehrpouyan


The last decade has witnessed notable improvements in the capabilities of mobile cyber-physical systems. These capabilities, including significant computational resources, myriad, and precise sensor modules, and far-reaching high-speed internet connection all point to a more established presence in everyday life. Indeed, Mobile CPS are already finding utility in varying disciplines, including intelligent transportation systems, smart living technologies, and mobile robotics systems. This research aims at producing a mobile CPS capable of generating a 2D map of an indoor environment through the use of 3D depth cameras and odometry. This system will also be capable of navigating to pre-determined points of interest via voice commands through a technique known as adaptive Monte Carlo localization, which uses a particle filter to track the systems pose against the generated known 2D map. This system's physical implementation and associated control logic will stand to be a testbed for future work on ensuring the security of mobile CPS.

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