In recent years, numerous high tech companies have developed and used technology roadmaps when making their investment decisions. Jay Paap has proposed the Customer Focused Technology Planning (CFTP) framework to draw future technology roadmaps. However, the CFTP framework does not include risk assessment as a critical factor in decision making. The problem addressed in this quantitative study was that high tech companies are either losing money or getting a much smaller than expected return on investment when making technology investment decisions. The purpose of this research was to determine the relationship between returns on investment before and after adding risk assessment to the CFTP framework. Paap's CFTP framework and process to improve technology investments thus served as the theoretical framework for this study. Data were obtained from cloud computing companies using the companies' market risk data and actual returns on investment data. The results and findings of paired sample two-tailed t tests for means and equal variances showed that return on investment was positively related to adding a traditional risk assessment model to Paap's CFTP framework. These findings regarding the addition of risk assessment to the technology investment framework may be used by investors to (a) make better and more expeditious decisions, and (b) obtain a high return on technology investment by selecting the highest return value and lowest risk value.

The motion planning problem can be formulated as a Markov decision process (MDP), if the uncertainties in the robot motion and environments can be modeled probabilistically. The complexity of solving these MDPs grow exponentially as the dimension of the problem increases and hence, it is nearly impossible to solve the problem even without constraints. Using hierarchical methods, these MDPs can be transformed into a semi-Markov decision process (SMDP) which only needs to be solved at certain landmark states. In the deterministic robotics motion planning community, sampling based algorithms like probabilistic roadmaps (PRM) and rapidly exploring random trees (RRTs) have been successful in solving very high dimensional deterministic problem. However they are not robust to system with uncertainties in the system dynamics and hence, one of the primary objective of this work is to generalize PRM/RRT to solve motion planning with uncertainty. We first present generalizations of randomized sampling based algorithms PRM and RRT, to incorporate the process uncertainty, and obstacle location uncertainty, termed as "generalized PRM" (GPRM) and "generalized RRT" (GRRT). The controllers used at the lower level of these planners are feedback controllers which ensure convergence of trajectories while mitigating the effects of process uncertainty. The results indicate that the algorithms solve the motion planning problem for a single agent in continuous state/control spaces in the presence of process uncertainty, and constraints such as obstacles and other state/input constraints. Secondly, a novel adaptive sampling technique, termed as "adaptive GPRM" (AGPRM), is proposed for these generalized planners to increase the efficiency and overall success probability of these planners. It was implemented on high-dimensional robot n-link manipulators, with up to 8 links, i.e. in a 16-dimensional state-space. The results demonstrate the ability of the proposed algorithm to handle the motion planning problem for highly non-linear systems in very high-dimensional state space. Finally, a solution methodology, termed the "multi-agent AGPRM" (MAGPRM), is proposed to solve the multi-agent motion planning problem under uncertainty. The technique uses a existing solution technique to the multiple traveling salesman problem (MTSP) in conjunction with GPRM. For real-time implementation, an ?inter-agent collision detection and avoidance? module was designed which ensures that no two agents collide at any time-step. Algorithm was tested on teams of homogeneous and heterogeneous agents in cluttered obstacle space and the algorithm demonstrate the ability to handle such problems in continuous state/control spaces in presence of process uncertainty.