Motion Optimization and Control of Single and Multiple Autonomous Aerial, Land, and Marine Robots

• Other Authors: Ghabcheloo, Reza (Editor), Pascoal, Antonio M. (Editor)
• Format: Electronic Book Chapter
• Language: English
• Published: Basel MDPI - Multidisciplinary Digital Publishing Institute 2023
• Subjects: Technology: general issues; History of engineering & technology; rapidly-exploring random trees; manipulator; priority determination; real-time optimization; path planning; autonomous vessels; collision avoidance; model predictive control; radial basis function networks; trajectory optimization; wheeled mobile robots; path-following; nonholonomic constraints; over-actuated underwater robots; multi-objective optimization; underwater robots; performance indices; distributed trajectory generation; Voronoi diagram; multi-drone applications; real-time replanning; optimal trajectory generation; Bernstein polynomials; Bézier curves; optimal control; quadrotor control; autonomous surface vehicle control; cooperative path following; online path planning; chemical spill boundary encircling; local planning; obstacle avoidance; manipulation; task perturbation; optimization; control; UAV; ASV; splashproof quadrotor; vision system; state machine; autonomous landing; marine robotics; aerial robotics; path following; inner-outer loop control; input-to-output stability; AUVs; ASVs; robust control; nonlinear control; uncertain systems; disturbance estimation; robot safety; parameter uncertainty; swarming; n/a
• Online Access: DOAB: download the publication; DOAB: description of the publication

This reprint focuses on a number of timely and challenging issues in areas that support the design, implementation, and experimental testing of single and multiple autonomous air, land, and marine robots. Special emphasis is placed on the methods and techniques employed for motion planning and control that are rooted in solid theoretical concepts. Applications are also addressed in the area of advanced manipulator control. The reprint affords the reader a well-balanced presentation of a wide spectrum of topics that include, but are not limited to, the generation of optimal collision-free trajectories for heterogeneous vehicles working collaboratively or independently, the rapid adaptation of manipulator trajectories to task perturbations, the automatic collision avoidance for surface vessels, the path following controllers for marine and ground robots, the large-scale swarm counterattack strategies, and the optimal actuator configuration design for over-actuated underwater robots.