Mobile Intelligent Autonomous Systems EDITED BY Ajith K. Gopal CRC Press Taylor & Francis Croup Boca Raton London NewYork CRC Press is an imprint of the Taylor & Francis Croup, an informa business
Contents Preface x> Acknowledgements xi" Editors xv Contributors xvii Introduction xxi PART I Conceptual Foundations for MIAS Chapter 1 Neuro-Fuzzy-GA-AI Paradigms 3 Jltendra R. Raol Chapter 2 Mathematical Models of Robot Motion 31 A. Ramachandran Chapter 3 Data Fusion in Mobile Intelligent Autonomous Systems 43 Ajith K. Gopal Chapter 4 Image Registration and Fusion 53 A. N. Myna Chapter 5 Multi-Sensor Image Fusion Using Discrete Cosine Transform 83 V. P. S. Naidu Chapter 6 Motion Segmentation Using Spectral Framework 99 M. R. Kaimal and R. Vrinthavani Chapter 7 Formation Control in Multi-Agent Systems over Packet Dropping Links 113 5. Seshadhri and R. Ayyagari PART II MIAS and Robotics Chapter 8 Robot's Sensors and Instrumentation 129 A. Ramachandran vii
viii Contents Chapter 9 Robot Navigation and Guidance 141 Chapter 10 Robot Path and Motion Planning 151 Chapter 11 Out-of-Sequence Measurements: Missing Data Problem 171 Bhekisipho Twala Chapter 12 Robotic Path-Planning in Dynamic and Uncertain Environment Using Genetic Algorithm 189 G. K. Singh andajith K. Gopal Chapter 13 Temporal Logic Motion Planning in Robotics 199 Motlatsi Seotsanyana Chapter 14 A Constraint Programming Solution for the Military Unit Path Finding Problem 225 Louise Leenen, Alexander Terlunen and Herman le Roux Chapter 15 Simultaneous Localization and Mapping for a Mobile Vehicle 241 Chapter 16 Robotic and Moving Vehicle Architectures 259 Chapter 17 Multi-Robot Coordination 271 Isaac O. Osunmakinde Chapter 18 Autonomous Mobile Robot with a Biological Brain 281 Kevin Warwick, Dimitris Xydas, SlawomirJ. Nasuto, Victor M. Becerra, Mark W. Hammond, Julia H. Downes, Simon Marshall and Benjamin J. Whalley Chapter 19 Safe and Effective Autonomous Decision Making in Mobile Robots 295 Rahee Walambe Chapter 20 Partially Integrated Guidance and Control of Unmanned Aerial Vehicles for Reactive Obstacle Avoidance 357 Radhakant Padhi and Charu Chawla
Contents ix Chapter 21 Impedance-Controlled Mechatronic Systems for Autonomous Intelligent Devices 385 Kostadin Kostadinov and Dimitar Chakarov Chapter 22 Hydro-MiNa Robot Technology for Micro- and Nano-Manipulation in Manufacturing of Micro-Products 409 Kostadin Kostadinov PART III Allied Technologies for MIAS/Robotics Chapter 23 Real-Time System Identification of an Unstable Vehicle within a Closed Loop 423, C. Kamali and Abhay A. Pashilkar Chapter 24 Smart Antennas for Mobile Autonomous Systems: Adaptive Algorithms for Acceleration 439 Hema Singh and R. M. Jha Chapter 25 Integrated Modelling, Simulation and Controller Design for an Autonomous Quadrotor Micro Air Vehicle 511 Nitin K. Gupta and N. Ananthkrishnan Chapter 26 Determination of Impact and Launch Points of a Mobile Vehicle Using Kalman Filter and Smoother 525 and V. P. S. Naidu Chapter 27 Novel Stability Augmentation System for Micro Air Vehicle: Towards Autonomous Flight 539 M. Meenakshi and Seetharama M. Bhat Chapter 28 Neuro-Fuzzy Fault-Tolerant Aircraft Autoland Controllers 561 Abhay A. Pashilkar, Rong Haijun and N. Sundararajan Chapter 29 Reconfiguration in Flight Critical Aerospace Applications 611 C. M. Ananda Chapter 30 Study of Three Different Philosophies to Automatic Target Recognition: Classical, Bayesian and Neural Networks 651 Vishal C. Ravindra, Venkatesh K. Madyastha and Girija Gopalratnam
x Contents Chapter 31 Real-Time Implementation of a Novel Fault Detection and Accommodation Algorithm for an Air-Breathing Combustion System 687 Rahee Walambe, Nitin K. Gupta, Niteen Bhange, N. Ananthkrishnan, Ik Soo Park, Jong Ho Choi and Hyun Gull Yoon Chapter 32 Fuzzy Logic-Based Sensor and Control Surface Fault Detection and Reconfiguration 715 Ambalal V. Patel and Shobha R. Savanur Chapter 33 Target Tracking Using a 2D Radar 737 Marelize Kriel and Herman le Roux Chapter 34 Investigating the Use of Bayesian Network and -NN Models to Develop Behaviours for Autonomous Robots 751 Isaac O. Osunmakinde, Chika O. Yinka-Banjo andantoine Bagula Chapter 35 Modelling Out-of-Sequence Measurements: A Copulas-Based Approach 765 Bhekisipho Twala Appendix A: Statistical and Numerical Concepts 771 Appendix B: Notes on Software and Algorithms Related to Robotics 779 Index 783