1 Introduction
1.1 Background
1.1.1 Motivations
1.1.2 Challenges
1.2 Objectives of This Book
1.3 Preview of Chapters
References
2 Technical Background
2.1 Vehicle Model
2.1.1 Kinematic Model
2.1.2 Dynamic Model
2.2 Fleet Configuration
2.2.1 Description
2.2.2 Several Common Configurations
2.2.3 Optimal Configuration
2.3 Collaborative Localization
2.3.1 Infrastructure-Based Localization
2.3.2 Infrastructure-Free Localization
2.4 Fleet Keeping and Reconstruction
2.4.1 Fleet Keeping
2.4.2 Fleet Reconstruction
2.5 Collision Avoidance
2.5.1 Map-Based Collision Avoidance
2.5.2 Reactive Collision Avoidance
References
3 GPS/INS Based Virtual-Structure Maneuvering in Outdoor Open Environments
3.1 Introduction
3.2 Problem Formulation
3.2.1 Vehicle Model
3.2.2 Fleet Configuration
3.2.3 Problem Statement
3.3 Approach
3.3.1 Collaborative Localization Based on GPS/INS
3.3.2 Motion Planning and Control for Fleet Keeping
3.3.3 Intra-Fleet Information Sharing
3.4 Validation
3.4.1 Experimental Setup
3.4.2 Experimental Results
3.5 Conclusions
References
4 Point Cloud Matching Based Virtual-Structure Maneuvering in Cluttered
Environments
4.1 Introduction
4.2 Problem Formulation
4.2.1 Vehicle Model
4.2.2 Fleet Configuration
4.2.3 Problem Statement
4.3 Approach
4.3.1 Collaborative Localization Based on Point Cloud Matching
4.3.2 Motion Planning and Control with Multiple Objectives
4.3.3 Intra-Fleet Information Sharing
4.4 Validation
4.4.1 Experimental Setup
4.4.2 Experimental Results
4.5 Conclusions
References
5 UWB Based Flexible Fleet Maneuvering in Featureless Environments
5.1 Introduction
5.2 Problem Formulation
5.2.1 Vehicle Model
5.2.2 Fleet Configuration
5.2.3 Problem Statement
5.3 Approach
5.3.1 Collaborative Localization Based on UWB
5.3.2 Motion Planning and Control for Flexile Fleet Keeping
5.3.3 Intra-Fleet Information Sharing
5.4 Validation
5.4.1 Experimental Setup
5.4.2 Experimental Results
5.5 Conclusions
References
6 Vision Based Leader-Follower Queue Maneuvering in Cluttered Environments
6.1 Introduction
6.2 Problem Formulation
6.2.1 Vehicle Model
6.2.2 Fleet Configuration
6.2.3 Leader-Loss Situation
6.2.4 Problem Statement
6.3 Approach
6.3.1 Collaborative Localization Based on Vision Detection
6.3.2 Motion Planning and Control for Leader-Follower Queue Keeping
6.3.3 Solution to Leader-Loss Situation
6.3.4 Intra-Fleet Information Sharing
6.4 Validation
6.4.1 Experimental Setup
6.4.2 Experimental Results
6.5 Conclusions
References
7 Vision Based Flexible Fleet Maneuvering in Cluttered Environments
7.1 Introduction
7.2 Problem Formulation
7.2.1 Vehicle Model
7.2.2 Fleet Configuration
7.2.3 Problem Statement
7.3 Approach
7.3.1 Collaborative Localization Based on Vision Detection
7.3.2 Motion Planning and Control for Flexible Fleet Keeping
7.3.3 Intra-Fleet Information Sharing
7.4 Validation
7.4.1 Experimental Setup
7.4.2 Experimental Results
7.5 Conclusions
References
8 Local Map Matching Based Leader-Follower Path Retracing Maneuvering in GPS-Denied Environments
8.1 Introduction
8.2 Problem Formulation
8.2.1 Vehicle Model
8.2.2 Fleet Configuration
8.2.3 Problem Statement
8.3 Approach
8.3.1 Collaborative Localization Based on Local Map Matching
8.3.2 Motion Planning and Control for Leader-Follower Path Retracing
8.3.3 Intra-Fleet Information Sharing
8.4 Validation
8.4.1 Experimental Setup
8.4.2 Experimental Results
8.5 Conclusions
References
9 Multi-UAV Optimal Fleet Flying for Area Patrol in Constrained Environments
9.1 Introduction
9.2 Problem Formulation
9.2.1 Vehicle Model
9.2.2 Fleet Configuration
9.2.3 Problem Statement
9.3 Approach
9.3.1 Optimal Configuration for Area Patrol
9.3.2 Motion Planning and Control for Fleet Keeping
9.3.3 Information Sharing Strategy
9.4 Validation
9.4.1 Simulation Setup
9.4.2 Simulation Results
9.5 Conclusions
References
10 Conclusion
10.1 Summary
10.2 Open Challenges