Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles (Lecture Notes in Control and Information Sciences, 474)

This Edited Volume Includes Thoroughly Collected On Sensing And Control For Autonomous Vehicles. Guidance, Navigation And Motion Control Systems For Autonomous Vehicles Are Increasingly Important In Land-based, Marine And Aerial Operations. Autonomous Underwater Vehicles May Be Used For Pipeline Inspection, Light Intervention Work, Underwater Survey And Collection Of Oceanographic/biological Data. Autonomous Unmanned Aerial Systems Can Be Used In A Large Number Of Applications Such As Inspection, Monitoring, Data Collection, Surveillance, Etc. At Present, Vehicles Operate With Limited Autonomy And A Minimum Of Intelligence. There Is A Growing Interest For Cooperative And Coordinated Multi-vehicle Systems, Real-time Re-planning, Robust Autonomous Navigation Systems And Robust Autonomous Control Of Vehicles. Unmanned Vehicles With High Levels Of Autonomy May Be Used For Safe And Efficient Collection Of Environmental Data, For Assimilation Of Climate And Environmental Models And To Complement Global Satellite Systems. The Target Audience Primarily Comprises Research Experts In The Field Of Control Theory, But The Book May Also Be Beneficial For Graduate Students. Vehicle Navigation Systems -- Localization And Mapping -- Path Planning -- Sensing And Tracking Systems -- Identification And Motion Control Of Robotic Vehicles -- Coordinated And Cooperative Control Of Multi-vehicle Systems. Thor I. Fossen, Kristin Y. Pettersen, Henk Nijmeijer, Editors. International Conference Proceedings. Includes Bibliographical References And Index. Front Matter....Pages i-ix Front Matter....Pages 1-1 Observers for Position Estimation Using Bearing and Biased Velocity Information....Pages 3-23 Nonlinear Camera- and GNSS-Aided INS for Fixed-Wing UAV Using the eXogenous Kalman Filter....Pages 25-50 Motion Control of ROVs for Mapping of Steep Underwater Walls....Pages 51-69 Front Matter....Pages 71-71 Underwater 3D Laser Scanners: The Deformation of the Plane....Pages 73-88 Advances in Platforms and Algorithms for High Resolution Mapping in the Marine Environment....Pages 89-119 New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation....Pages 121-141 Pose-Graph SLAM for Underwater Navigation....Pages 143-160 Exploring New Localization Applications Using a Smartphone....Pages 161-179 Front Matter....Pages 181-181 Model-Based Path Planning....Pages 183-206 Constrained Optimal Motion Planning for Autonomous Vehicles Using PRONTO....Pages 207-226 Front Matter....Pages 227-227 Observability-Based Sensor Sampling....Pages 229-248 Tracking Multiple Ground Objects Using a Team of Unmanned Air Vehicles....Pages 249-268 A Target Tracking System for ASV Collision Avoidance Based on the PDAF....Pages 269-288 Detection and Tracking of Floating Objects Using a UAV with Thermal Camera....Pages 289-316 Front Matter....Pages 317-317 Experimental Identification of Three Degree-of-Freedom Coupled Dynamic Plant Models for Underwater Vehicles....Pages 319-341 Model-Based LOS Path-Following Control of Planar Underwater Snake Robots....Pages 343-363 Robotized Underwater Interventions....Pages 365-386 Adaptive Training of Neural Networks for Control of Autonomous Mobile Robots....Pages 387-405 Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments....Pages 407-431 Front Matter....Pages 433-433 From Cooperative to Autonomous Vehicles....Pages 435-452 Front Matter....Pages 433-433 Coordination of Multi-agent Systems with Intermittent Access to a Cloud Repository....Pages 453-471 A Sampled-Data Model Predictive Framework for Cooperative Path Following of Multiple Robotic Vehicles....Pages 473-494 Coordinated Control of Mobile Robots with Delay Compensation Based on Synchronization....Pages 495-514 Back Matter....Pages 515-518