1st Edition

Mobile Intelligent Autonomous Systems

Edited By Jitendra R. Raol, Ajith K. Gopal Copyright 2013
    832 Pages 478 B/W Illustrations
    by CRC Press

    832 Pages 478 B/W Illustrations
    by CRC Press

    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.


    Part I Conceptual Foundations for MIAS

    Neuro-Fuzzy–GA–AI Paradigms
    Jitendra R. Raol

    Mathematical Models of Robot Motion
    A. Ramachandran

    Data Fusion in Mobile Intelligent Autonomous Systems
    Ajith K. Gopal

    Image Registration and Fusion
    A.N. Myna

    Multi-Sensor Image Fusion Using Discrete Cosine Transform
    V.P.S. Naidu

    Motion Segmentation Using Spectral Framework
    M.R. Kaimal and R. Vrinthavani

    Formation Control in Multi-Agent Systems over Packet Dropping Links
    S. Seshadhri and R. Ayyagari

    Part II MIAS and Robotics

    Robot’s Sensors and Instrumentation
    A. Ramachandran

    Robot Navigation and Guidance
    Jitendra R. Raol

    Robot Path and Motion Planning
    Jitendra R. Raol

    Out-of-Sequence Measurements: Missing Data Problem
    Bhekisipho Twala

    Robotic Path-Planning in Dynamic and Uncertain Environment Using Genetic Algorithm
    G.K. Singh and Ajith K. Gopal

    Temporal Logic Motion Planning in Robotics
    Motlatsi Seotsanyana

    A Constraint Programming Solution for the Military Unit Path Finding Problem
    Louise Leenen, Alexander Terlunen, and Herman le Roux

    Simultaneous Localization and Mapping for a Mobile Vehicle
    Jitendra R. Raol

    Robotic and Moving Vehicle Architectures
    Jitendra R. Raol

    Multi-Robot Coordination
    Isaac O. Osunmakinde

    Autonomous Mobile Robot with a Biological Brain
    Kevin Warwick, Dimitris Xydas, Slawomir J. Nasuto, Victor M. Becerra, Mark W. Hammond, Julia H. Downes, Simon Marshall, and Benjamin J. Whalley

    Safe and Effective Autonomous Decision Making in Mobile Robots
    Rahee Walambe

    Partially Integrated Guidance and Control of Unmanned Aerial Vehicles for Reactive Obstacle Avoidance
    Radhakant Padhi and Charu Chawla

    Impedance-Controlled Mechatronic Systems for Autonomous Intelligent Devices
    Kostadin Kostadinov and Dimitar Chakarov

    Hydro-MiNa Robot Technology for Micro- and Nano-Manipulation in Manufacturing of Micro-Products
    Kostadin Kostadinov

    Part III Allied Technologies for MIAS/Robotics

    Real-Time System Identification of an Unstable Vehicle within a Closed Loop
    Jitendra R. Raol, C. Kamali, and Abhay A. Pashilkar

    Smart Antennas for Mobile Autonomous Systems: Adaptive Algorithms for Acceleration
    Hema Singh and R.M. Jha

    Integrated Modelling, Simulation and Controller Design for an Autonomous Quadrotor Micro Air Vehicle
    Nitin K. Gupta and N. Ananthkrishnan

    Determination of Impact and Launch Points of a Mobile Vehicle Using Kalman Filter and Smoother
    Jitendra R. Raol and V.P.S. Naidu

    Novel Stability Augmentation System for Micro Air Vehicle: Towards Autonomous Flight
    M. Meenakshi and Seetharama M. Bhat

    Neuro-Fuzzy Fault-Tolerant Aircraft Autoland Controllers
    Abhay A. Pashilkar, Rong Haijun, and N. Sundararajan

    Reconfiguration in Flight Critical Aerospace Applications
    C.M. Ananda

    Study of Three Different Philosophies to Automatic Target Recognition: Classical, Bayesian and Neural Networks
    Vishal C. Ravindra, Venkatesh K. Madyastha, and Girija Gopalratnam

    Real-Time Implementation of a Novel Fault Detection and Accommodation Algorithm for an Air-Breathing Combustion System
    Rahee Walambe, Nitin K. Gupta, Niteen Bhange, N. Ananthkrishnan, Ik Soo Park, Jong Ho Choi, and Hyun Gull Yoon

    Fuzzy Logic-Based Sensor and Control Surface Fault Detection and Reconfiguration
    Ambalal V. Patel and Shobha R. Savanur

    Target Tracking Using a 2D Radar
    Marelize Kriel and Herman le Roux

    Investigating the Use of Bayesian Network and k-NN Models to Develop Behaviours for Autonomous Robots
    Isaac O. Osunmakinde, Chika O. Yinka-Banjo, and Antoine Bagula

    Modelling Out-of-Sequence Measurements: A Copulas-Based Approach
    Bhekisipho Twala

    Appendix A: Statistical and Numerical Concepts

    Appendix B: Notes on Software and Algorithms Related to Robotics



    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.

    "This edited collection brings forth a variety of state-of-the-art research results in areas relevant to mobile intelligent systems such as UAVs and robots. The topics are complementary while the treatment of these topics within each chapter is very detailed. This book will greatly benefit robotics researchers and developers as a go-to source for understanding the myriad topics related to incorporation of autonomy in mobile intelligent systems."
    —Aman Behal, University of Central Florida, USA

    "[This book] can be recommended to research (PhD and post-PhD) students or for industrial implementations."
    —Florin Ionescu, Steinbeis University Berlin and STI Dynamic Systems, Germany

    "… a great book to get an overall and in-depth understanding for this field."
    —Zhao Wang, University of Central Florida, Orlando, USA