Advances in Intelligent Autonomous Systems

1. Front Matter

   Pages i-xviii

   PDF

2. General Concepts, Architectures and Technologies

   1. Front Matter

      Pages 1-1

      PDF

   2. Intelligent Autonomous Robotic Systems: Some General Issues and Two Representative Research Prototypes

      • S. G. Tzafestas

      Pages 3-23

   3. Increased Autonomy in Industrial Robotic Systems: A Framework

      • Gunar Bolmsjö, Magnus Olsson, Krister Brink

      Pages 25-46

   4. Combining Visual, Tactile and Range Sensor Information to Increase the Autonomy of Robots

      • M. Seitz, A. Weigl, K. Hohm, K. Kleinmann

      Pages 47-70

   5. The ICa Approach to Intelligent Autonomous Systems

      • R. Sanz, F. Matía, E. A. Puente

      Pages 71-92

   6. Intelligent Robotic Agent Combining Reactive and Cognitive Capabilities

      • W. Jacak, S. Dreiseitl

      Pages 93-114

   7. Reactive Planning with Learned Operational Concepts

      • Volker Klingspor

      Pages 115-134

   8. Sensors Used for Autonomous Navigation

      • E. M. Nebot

      Pages 135-156

3. Mobile, Walking And Snake-Like Robots

   1. Front Matter

      Pages 157-157

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   2. Design, Control, and Applications of Autonomous Mobile Robots

      • D. Floreano, J. Godjevac, A. Martinoli, F. Mondada, J.-D. Nicoud

      Pages 159-186

   3. Intelligent Autonomous Systems: Visual Navigation Functionalities for Autonomous Mobile Vehicles

      • E. Stella, A. Distante

      Pages 187-213

   4. Mapping and Navigating in Time-Varying Obstacle Fields

      • Ray Jarvis

      Pages 215-243

   5. High Integrity Navigation for Autonomous Systems

      • E. M. Nebot

      Pages 245-266

   6. Autonomous Robot Motion Planning and Control in Uncertain Environments: Overview and A New Algorithm Based on Sliding-Mode Control

      • S. G. Tzafestas, M. P. Tzamtzi, G. G. Rigatos

      Pages 267-288

   7. Autonomous Control for an Omnidirectional Mobile Robot with Feedback Control System

      • Keigo Watanabe, Yamato Shiraishi, Jun Tang, Toshio Fukuda, Spyros G. Tzafestas

      Pages 289-308

   8. On the Design of a Control Architecture for an Autonomous Mobile Robot

      • E. Pereira da Silva, F. Lobo Pereira, J. Borges Sousa

      Pages 309-336

   9. Dynamic Walking: A Step Forward?

      • R. E. Reeve

      Pages 337-354

   10. An Omnidirectional Control Algorithm for Walking Machines Based on a Wave-Crab Gait

       • María A. Jiménez, P. Gonzalez de Santos, J. Tabera

       Pages 355-380

   11. Dynamic Modelling and Locomotion Control of Biped Autonomous Robots

       • T. E. Krikochoritis, C. S. Tzafestas, S. G. Tzafestas

       Pages 381-406

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.

• Intelligent Autonomous Systems
• algorithms
• autonom
• control algorithm
• design
• development
• industrial robot
• integrated circuit
• mobile robot
• modeling
• motion planning
• navigation
• robot
• sensing
• sensor

• Department of Electrical and Computer Engineering, National Technical University of Athens, Greece

  Spyros G. Tzafestas

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