Mobile Intelligent Autonomous Systems

Going beyond the traditional field of robotics to include other mobile vehicles, Mobile Intelligent Autonomous Systems describes important theoretical concepts, techniques, approaches, and applications that can be used to build truly mobile intelligent autonomous systems (MIAS). It offers a comprehensive treatment of robotics and MIAS, as well as related disciplines, helping readers understand the subject from a system-theoretic and practical point of view. Organized into three sections, the book progresses from conceptual foundations to MIAS and robotics systems and then examines allied technologies. With an emphasis on recent research and developments, experts from various fields cover key aspects of this rapidly emerging area, including: Path and motion planning Obstacle avoidance in a dynamic environment Direct biological-brain control of a mobile robot Sensor and image data fusion Autonomous decision making and behavior modeling in robots Hydro-MiNa robot technology Adaptive algorithms for smart antennas Control methods for autonomous micro-air vehicles Neuro-fuzzy fault-tolerant auto-landing for aircraft H-infinity filter based estimation for simultaneous localization and mapping Where relevant, concepts and theories are illustrated with block/flow diagrams and numerical simulations in MATLAB®. An integrated exploration of the theory and practice of MIAS and robotics, this is a valuable reference and recipe book for research and industry.

IntroductionPart I Conceptual Foundations for MIASNeuro-Fuzzy–GA–AI ParadigmsJitendra R. RaolMathematical Models of Robot MotionA. RamachandranData Fusion in Mobile Intelligent Autonomous SystemsAjith K. GopalImage Registration and FusionA.N. MynaMulti-Sensor Image Fusion Using Discrete Cosine TransformV.P.S. NaiduMotion Segmentation Using Spectral FrameworkM.R. Kaimal and R. VrinthavaniFormation Control in Multi-Agent Systems over Packet Dropping LinksS. Seshadhri and R. AyyagariPart II MIAS and RoboticsRobot’s Sensors and InstrumentationA. RamachandranRobot Navigation and GuidanceJitendra R. RaolRobot Path and Motion PlanningJitendra R. RaolOut-of-Sequence Measurements: Missing Data ProblemBhekisipho TwalaRobotic Path-Planning in Dynamic and Uncertain Environment Using Genetic AlgorithmG.K. Singh and Ajith K. GopalTemporal Logic Motion Planning in RoboticsMotlatsi SeotsanyanaA Constraint Programming Solution for the Military Unit Path Finding ProblemLouise Leenen, Alexander Terlunen, and Herman le RouxSimultaneous Localization and Mapping for a Mobile VehicleJitendra R. RaolRobotic and Moving Vehicle ArchitecturesJitendra R. RaolMulti-Robot CoordinationIsaac O. OsunmakindeAutonomous Mobile Robot with a Biological BrainKevin Warwick, Dimitris Xydas, Slawomir J. Nasuto, Victor M. Becerra, Mark W. Hammond, Julia H. Downes, Simon Marshall, and Benjamin J. WhalleySafe and Effective Autonomous Decision Making in Mobile RobotsRahee WalambePartially Integrated Guidance and Control of Unmanned Aerial Vehicles for Reactive Obstacle AvoidanceRadhakant Padhi and Charu ChawlaImpedance-Controlled Mechatronic Systems for Autonomous Intelligent DevicesKostadin Kostadinov and Dimitar ChakarovHydro-MiNa Robot Technology for Micro- and Nano-Manipulation in Manufacturing of Micro-ProductsKostadin KostadinovPart III Allied Technologies for MIAS/RoboticsReal-Time System Identification of an Unstable Vehicle within a Closed LoopJitendra R. Raol, C. Kamali, and Abhay A. PashilkarSmart Antennas for Mobile Autonomous Systems: Adaptive Algorithms for AccelerationHema Singh and R.M. JhaIntegrated Modelling, Simulation and Controller Design for an Autonomous Quadrotor Micro Air VehicleNitin K. Gupta and N. AnanthkrishnanDetermination of Impact and Launch Points of a Mobile Vehicle Using Kalman Filter and SmootherJitendra R. Raol and V.P.S. NaiduNovel Stability Augmentation System for Micro Air Vehicle: Towards Autonomous FlightM. Meenakshi and Seetharama M. BhatNeuro-Fuzzy Fault-Tolerant Aircraft Autoland ControllersAbhay A. Pashilkar, Rong Haijun, and N. SundararajanReconfiguration in Flight Critical Aerospace ApplicationsC.M. AnandaStudy of Three Different Philosophies to Automatic Target Recognition: Classical, Bayesian and Neural NetworksVishal C. Ravindra, Venkatesh K. Madyastha, and Girija GopalratnamReal-Time Implementation of a Novel Fault Detection and Accommodation Algorithm for an Air-Breathing Combustion SystemRahee Walambe, Nitin K. Gupta, Niteen Bhange, N. Ananthkrishnan, Ik Soo Park, Jong Ho Choi, and Hyun Gull YoonFuzzy Logic-Based Sensor and Control Surface Fault Detection and ReconfigurationAmbalal V. Patel and Shobha R. SavanurTarget Tracking Using a 2D RadarMarelize Kriel and Herman le RouxInvestigating the Use of Bayesian Network and k-NN Models to Develop Behaviours for Autonomous RobotsIsaac O. Osunmakinde, Chika O. Yinka-Banjo, and Antoine BagulaModelling Out-of-Sequence Measurements: A Copulas-Based ApproachBhekisipho TwalaAppendix A: Statistical and Numerical ConceptsAppendix B: Notes on Software and Algorithms Related to RoboticsIndex

Jitendra R. Raol, Ph.D., is retired from the National Aerospace Laboratories (NAL), where he was Scientist-G and head of the Flight Mechanics and Control Division (FMCD). He was elected a fellow of the IEE (UK), was a senior member of the IEEE (US), is a life-fellow of the Aeronautical Society of India, and a life member of the System Society of India. Dr. Raol has published 110 research papers and several reports and has guest-edited two special issues each of Sadhana and the Defense Science Journal. He is a reviewer of several national and international journals and has served as a chairman and member of several technical and examination committees. He is the (co-) author of Modelling and Parameter Estimation for Dynamic Systems, (IEE/IET, 2004), Flight Mechanics Modeling and Analysis (CRC Press, 2008) and Multi-Sensor Data Fusion with MATLAB (CRC Press, 2009). He has also written collections of poems: Poetry of Life, Sandy Bonds, Timeless Quest, and Naked Emotions. Ajith K. Gopal, Ph.D., is currently an engineering manager at Land Systems South Africa, where he is responsible for new technology strategy and development for the company. In 2007, Dr. Gopal established the MIAS (Mobile, Intelligent, Autonomous Systems) research group at the Council of Scientific and Industrial Research (CSIR) in South Africa, where he served as the research leader for 2007 and 2008. He has published four papers relating to composite and smart materials in the Journal of Composite Materials and International Conferences on Composite Science and Technology. He has also published a paper on path planning in the Defense Science Journal and a book chapter on data fusion in robotics in Multi-Sensor Data Fusion with MATLAB (CRC Press, 2009) and has guest-edited a special issue of the Defense Science Journal on MIAS.