Mobile Intelligent Autonomous Systems  book cover
1st Edition

Mobile Intelligent Autonomous Systems

ISBN 9781439863008
Published August 15, 2012 by CRC Press
832 Pages 478 B/W Illustrations

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Book Description

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.

Table of Contents


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


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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