Ebook: Advances in Intelligent Autonomous Systems

The field of Intelligent Autonomous Systems (lAS) has attracted over the years the attention of numerous research and industrial groups and has by now arrived at an advanced level of development. The results have been achieved through the synergetic use of concepts, techniques and technologies drawn from electrical and mechanical engineering, control engineering, systems science, computer science and management science. Currently, the majority of working systems in practice are of the semi­ autonomous type needing some level of human intervention. Therefore much effort is presently devoted in academic, research and industrial environments towards further increasing the level of autonomy. This book provides a collection of essays which cover the latest research in the lAS field and present a rich set of results accompanied by detailed descriptions of the relevant concepts, tools, techniques and hardware/software designs. The book contains twenty three chapters grouped in the following parts: Part 1: General concepts, architectures and technologies Part 2: Mobile, walking and snake-like robots Part 3: Applications PART 1 involves the first seven chapters which deal with generic issues. Chapter 1 (by S. G. Tzafestas) provides some background material, accompanied by a description of two research lAS prototypes, namely a car-disassembly robotic system and a semi-autonomous/autonomous robotic wheelchair. Chapter 2 (by G. Bolmsjo, M. Olsson and K. Brink) presents a generic event-based control system structure for the control of a robotic workcell, including its implementation, where the autonomous operation is achieved via reactive replanning and configurable corrections.

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Content:
Front Matter....Pages i-xviii
Front Matter....Pages 1-1
Intelligent Autonomous Robotic Systems: Some General Issues and Two Representative Research Prototypes....Pages 3-23
Increased Autonomy in Industrial Robotic Systems: A Framework....Pages 25-46
Combining Visual, Tactile and Range Sensor Information to Increase the Autonomy of Robots....Pages 47-70
The ICa Approach to Intelligent Autonomous Systems....Pages 71-92
Intelligent Robotic Agent Combining Reactive and Cognitive Capabilities....Pages 93-114
Reactive Planning with Learned Operational Concepts....Pages 115-134
Sensors Used for Autonomous Navigation....Pages 135-156
Front Matter....Pages 157-157
Design, Control, and Applications of Autonomous Mobile Robots....Pages 159-186
Intelligent Autonomous Systems: Visual Navigation Functionalities for Autonomous Mobile Vehicles....Pages 187-213
Mapping and Navigating in Time-Varying Obstacle Fields....Pages 215-243
High Integrity Navigation for Autonomous Systems....Pages 245-266
Autonomous Robot Motion Planning and Control in Uncertain Environments: Overview and A New Algorithm Based on Sliding-Mode Control....Pages 267-288
Autonomous Control for an Omnidirectional Mobile Robot with Feedback Control System....Pages 289-308
On the Design of a Control Architecture for an Autonomous Mobile Robot....Pages 309-336
Dynamic Walking: A Step Forward?....Pages 337-354
An Omnidirectional Control Algorithm for Walking Machines Based on a Wave-Crab Gait....Pages 355-380
Dynamic Modelling and Locomotion Control of Biped Autonomous Robots....Pages 381-406
A Novel Robotic Snake....Pages 407-424
Front Matter....Pages 425-425
Autonomous Agents in Cellular Manufacturing....Pages 427-438
Man-Machine Cooperation for the Control of an Intelligent Powered Wheelchair....Pages 439-458
Front Matter....Pages 425-425
The Design, Development and Operation of an Autonomous Robotic Excavator....Pages 459-480
Autonomous Robotic Exploration and Gaze Planning Using Range Sensing....Pages 481-506
Mixed Traffic Control Involving Manually-Controlled and Automatically-Controlled Vehicles in IVHS....Pages 507-528
Back Matter....Pages 529-533

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Content:
Front Matter....Pages i-xviii
Front Matter....Pages 1-1
Intelligent Autonomous Robotic Systems: Some General Issues and Two Representative Research Prototypes....Pages 3-23
Increased Autonomy in Industrial Robotic Systems: A Framework....Pages 25-46
Combining Visual, Tactile and Range Sensor Information to Increase the Autonomy of Robots....Pages 47-70
The ICa Approach to Intelligent Autonomous Systems....Pages 71-92
Intelligent Robotic Agent Combining Reactive and Cognitive Capabilities....Pages 93-114
Reactive Planning with Learned Operational Concepts....Pages 115-134
Sensors Used for Autonomous Navigation....Pages 135-156
Front Matter....Pages 157-157
Design, Control, and Applications of Autonomous Mobile Robots....Pages 159-186
Intelligent Autonomous Systems: Visual Navigation Functionalities for Autonomous Mobile Vehicles....Pages 187-213
Mapping and Navigating in Time-Varying Obstacle Fields....Pages 215-243
High Integrity Navigation for Autonomous Systems....Pages 245-266
Autonomous Robot Motion Planning and Control in Uncertain Environments: Overview and A New Algorithm Based on Sliding-Mode Control....Pages 267-288
Autonomous Control for an Omnidirectional Mobile Robot with Feedback Control System....Pages 289-308
On the Design of a Control Architecture for an Autonomous Mobile Robot....Pages 309-336
Dynamic Walking: A Step Forward?....Pages 337-354
An Omnidirectional Control Algorithm for Walking Machines Based on a Wave-Crab Gait....Pages 355-380
Dynamic Modelling and Locomotion Control of Biped Autonomous Robots....Pages 381-406
A Novel Robotic Snake....Pages 407-424
Front Matter....Pages 425-425
Autonomous Agents in Cellular Manufacturing....Pages 427-438
Man-Machine Cooperation for the Control of an Intelligent Powered Wheelchair....Pages 439-458
Front Matter....Pages 425-425
The Design, Development and Operation of an Autonomous Robotic Excavator....Pages 459-480
Autonomous Robotic Exploration and Gaze Planning Using Range Sensing....Pages 481-506
Mixed Traffic Control Involving Manually-Controlled and Automatically-Controlled Vehicles in IVHS....Pages 507-528
Back Matter....Pages 529-533
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