| Description |
1 online resource |
| Contents |
Intro -- Acknowledgements -- Danksagung -- Contents -- List of Figures -- List of Tables -- Abbreviations -- Abstract -- Zusammenfassung -- 1 Introduction -- 1.1 Autonomous Systems in Land, Air, and Water -- 1.2 Scope and Structure of This Thesis -- 1.3 Single- and Team-Oriented Approaches for Autonomous Systems -- 1.4 Review of Selected European Research Projects in Cooperative Marine Robotics -- 1.4.1 GREX -- 1.4.2 CONMAR -- 1.4.3 MORPH -- 1.5 Contribution of This Thesis to the State of the Art -- 2 Navigation in Marine Robotics: Methods, Classification and State of the Art |
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2.1 The Term 'Navigation' in Marine Robotics and Other Domains -- 2.2 Structure of Navigation Data in Marine Robotics -- 2.2.1 Inertial Reference Frame for Description of Position -- 2.2.2 Body-Fixed Frame for Description of Velocities and Forces/ Moments -- 2.2.3 Coordination Transformations -- 2.2.4 Physical Meaning of the q -- Coordinate -- 2.2.5 Difference between Heading and Course Angle -- 2.2.6 Topological Navigation -- 2.3 Navigation, Guidance and Control in the Autonomous Control for Marine Robots -- 2.3.1 Model of the Marine Robot -- 2.3.2 Navigation System |
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2.3.3 Guidance and Control System -- 2.3.4 Example and Literature Study on Guidance and Control -- 2.3.5 Requirements of the Navigation System for Guidance and Control -- 2.3.6 Summary of the Discussions on Navigation, Guidance, and Control -- 2.4 Sensors and Methods for Navigation of Marine Robots -- 2.4.1 Sensors With Direct Access to Navigation Data -- 2.4.2 Navigation Based On Distance and/or Bearing Measurements to External Objects -- 2.4.3 Mapping Based Methods -- 2.4.4 A Review of Filtering Techniques -- 2.4.5 Cooperative Navigation |
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2.4.6 Introduction to the Problem of Optimal Sensor Placement (OSP) -- 2.4.7 Summary of Discussions on Navigation Procedures and Methods -- 2.5 Navigation Employing Acoustic Measurements -- 2.5.1 Long Baseline (LBL) -- 2.5.2 Single-Beacon Navigation -- 2.5.3 Short Baseline (SBL) -- 2.5.4 Ultra-Short Baseline (USBL) -- 2.5.5 GPS Intelligent Buoys (GIB) -- 3 Problem Formulation and Definitions for the Discussions to Follow -- 3.1 Two Different Concepts: Internal vs. External Navigation -- 3.2 Problem Formulation -- 3.3 Benchmark Scenarios -- 3.3.1 Benchmark Scenario I: Supervision of a Diving Agent |
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3.3.2 Benchmark Scenario II: Aided Navigation Within a Small Robot Pack -- 3.3.3 Benchmark Scenario III: Range-Based Navigation Within a Robot Pack With a Minimal Number of Members -- 4 Mathematical Tools Used From the Areas of Control and Systems Engineering -- 4.1 Basic Ideas and Concepts -- 4.1.1 The Terms 'Signal', 'System', and 'Model' and Their Most Important Features -- 4.1.1.1 Basic Definitions -- 4.1.1.2 Classification of Systems and Models -- 4.1.2 State Space Representation -- 4.1.2.1 Necessity for the Introduction and Comparison With Frequency Domain Approach |
| Summary |
Thomas Glotzbach spotlights that navigation within marine robotics can benefit from cooperative teams in a way that justifies the increased effort to operate several vehicles at once. He features discussions of different scenarios, modeling of systems, and estimation algorithms for comparable situations. The chapter on the used methodologies may allow a reader with only basic knowledge in control theory to obtain deeper insight in advanced concepts such as observability and state estimation, even without any background in marine robotics |
| Bibliography |
Includes bibliographical references |
| Subject |
Autonomous robots -- Control
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| Form |
Electronic book
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| ISBN |
9783658301095 |
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3658301090 |
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