Multiple Heterogeneous Unmanned Aerial Vehicles 1st Edition by Aníbal Ollero, ‎Iván Maza ISBN 9783540739586 3540739580

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Product details:

ISBN 10: 3540739580

ISBN 13: 9783540739586

Author: Aníbal Ollero, ‎Iván Maza 

Complete with online files and updates, this cutting-edge text looks at the next generation of unmanned flying machines. Aerial robots can be considered as an evolution of the Unmanned Aerial Vehicles (UAVs). This book provides a complete overview of all the issues related to aerial robotics, addressing problems ranging from flight control to terrain perception and mission planning and execution. The major challenges and potentials of heterogeneous UAVs are comprehensively explored.

 

Multiple Heterogeneous Unmanned Aerial Vehicles 1st EditionTable of contents:

Contents

List of Contributors

Introduction

1. Aerial Robotics
2. Multi-UAV Systems
3. Applications
4. Aerial Photography and Cinematography
5. Aerial Mapping
6. Meteorology
7. Environmental Monitoring
8. Agriculture and Forestry
9. Inspection
10. Law Enforcement and Security Applications
11. Disasters and Crisis Management
12. Fire Fighting
13. Traffic Surveillance
14. Communications
15. Civil Engineering
16. Conclusions and Outline of the Book
17. References
18. Decision Making in Multi-UAVs Systems: Architecture and Algorithms
19. Introduction
20. UAV Architecture
21. A Taxonomy of Decisional Autonomy Capabilities
22. Decisional Architecture
23. Execution Control
24. General Task Model and Assumptions
25. Executive’s Mechanisms
26. Illustration
27. Multi-UAV Distributed Mission-Planning
28. General Considerations Related to the Planning Scheme
29. Exploiting the Specialized Refiners During the Planning Process
30. The Specialized Refiners Toolbox: Overview
31. Illustration
32. Distributed Task Allocation
33. Contract-Net with Equity
34. Time-Constrained Tasks in a Distributed Environment
35. Summary
36. References
37. Communication

Introduction

1. Requirements
2. Design Idea
3. Data Organization
4. Network
5. Blackboard
6. Routing
7. Network Layers
8. Network Setup
9. Design Details
10. User View
11. Conditioning of Slot Contents
12. Data Transmission
13. Physical Links
14. Implementation Details
15. Core Architecture
16. Cross Platform Support
17. Support for Embedded Systems
18. Implemented Physical Abstraction Layers
19. Memory Efficiency
20. Code Example
21. Real Scenario
22. Network Topology in COMETS
23. Transportation and Physical Layers
24. Information Flow
25. Conclusion
26. References
27. Multi-UAV Cooperative Perception Techniques
28. Introduction
29. Main Issues
30. Approach and Outline
31. Related Work
32. Probabilistic Algorithms for Cooperative Perception
33. Multi-robot Perception
34. Semi-decentralized Belief Computation
35. Decentralized Cooperative Perception
36. Developing Cooperative Perception Actions
37. Vision-Based Object Detection, Localization and Tracking with Multiple UAVs
38. Initial Assumptions
39. Event State Definition
40. The Likelihood Function for Vision
41. Local UAV Image Processing Techniques
42. Image Motion Estimation
43. Blob Features
44. Image Stabilization
45. Information Filter-Based Multi-UAV Detection and Localization Using Vision
46. Multi-robot Perception Employing Information Filters
47. Decentralized Information Filter for Object Detection and Localization
48. Results
49. Grid-Based Multi-UAV Detection and Localization Using Vision and Other Sensors
50. Local Filter
51. Distributed Filter in the Multi-robot Case
52. Grid-Based Detection and Localization of Events
53. Conclusions
54. References
55. Autonomous Helicopters
56. Autonomous Helicopters Overview
57. General Issues on Autonomous Helicopters and Control Architectures
58. The MARVIN Autonomous Helicopter System
59. Helicopter Model
60. Coordinate Systems
61. Helicopter State
62. Physics of Motion
63. Forces and Torques
64. Aerodynamics of a Rotor
65. Simulation Results
66. Control Techniques
67. MARVIN Controller
68. Additional Control Techniques for MARVIN
69. Conclusions
70. References
71. Airship Control

Introduction

1. Airship Modeling
2. Frames and Kinematic Model
3. Dynamic Model
4. Simplified Model
5. Model Identification
6. Estimation of the Aerodynamic Parameters
7. Analysis of the Validity of the Reduced Models
8. Control
9. PID Control
10. Generalized Predictive Control
11. Non-linear Control by Extended Linearization (ELC)
12. Experimental Results
13. Path Planning and Following
14. Path Planning
15. Path Following
16. Conclusion
17. References
18. Teleoperation Tools
19. Introduction
20. Technology Trends in UAV Teleoperation
21. The Need of Multimodal Interfaces
22. Augmented Reality and Synthetic Images
23. Teleoperated Helicopter in COMETS
24. Hardware Elements
25. Software Elements
26. Experimental Results and Mission Execution
27. Mission Execution
28. Conclusions
29. References
30. Multi-UAV Experiments: Application to Forest Fires
31. Introduction and Motivation
32. A Multi-UAV System for Forest Fire Applications
33. Descriptions of the UAVs
34. Sensors of the Fleet
35. Fire Segmentation
36. General Description of the Mission
37. Multi-UAV Surveillance and Fire Alarm Detection
38. Cooperative Alarm Confirmation
39. Fire Observation and Monitoring Using an UAV
40. Cooperative Fire Monitoring
41. Conclusions
42. References
43. Conclusions and Future Directions
44. Author Index

 

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