Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy

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Kimon P. Valavanis
Springer Science & Business Media, Feb 26, 2008 - Technology & Engineering - 544 pages
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Unmanned Aerial Vehicles (UAVs) have seen unprecedented levels of growth in military and civilian application domains. Fixed-wing aircraft, heavier or lighter than air, rotary-wing (rotorcraft, helicopters), vertical take-off and landing (VTOL) unmanned vehicles are being increasingly used in military and civilian domains for surveillance, reconnaissance, mapping, cartography, border patrol, inspection, homeland security, search and rescue, fire detection, agricultural imaging, traffic monitoring, to name just a few application domains. When initially introduced during World War I, UAVs were criticized heavily as being unreliable and inaccurate, and only a handful of people recognized at that early stage their potential and (future) impact on cha- ing the battlefield. To nobody’s surprise, about a century later, the total market for UAVs will reach within a few years more than $16 billion, with the US Depa- ment of Defense (DOD) being the champion in funding initiatives, - search and development, as well as procurement. Europe, as a continent, is a very distant second player, expected to spend about €2 billion in research and development, and procurement.
 

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Contents

Introduction
3
A Historical Perspective on Unmanned Aerial Vehicles
15
Modeling and Control Fundamentals
47
Airplane Basic Equations of Motion and OpenLoop Dynamics
48
Control Fundamentals of SmallMiniature Helicopters A Survey
73
A Tutorial Approach to Small Unmanned Helicopter Controller Design for Non aggressive Flights
119
Design and Control of a Miniature Quadrotor
171
Navigation Aspects
211
Applications
341
Robust Nonlinear Observers for Attitude Estimation of Mini UAVs
343
Autonomous Solar UAV for Sustainable Flights
376
The Integration of a Multimodal MAV and Biomimetic Sensing for Autonomous Flights in NearEarth Environments
407
Dynamic Localization of AirGround Wireless Sensor Networks
431
Decentralized Formation Tracking of MultiVehicle Systems with ConsensusBased Controllers
454
Chapter 16 Hardware in the Loop Tuning for a Volcanic Gas Sampling UAV
473
A Modular Onboard Processing System for Small Unmanned Vehicles
494

Obstacle and Terrain Avoidance for Miniature Aerial Vehicles
213
Vision Based Navigation and Target Tracking for Unmanned Aerial Vehicles
245
Single and MultiUAV Relative Position Estimation Based on Natural Landmarks
267
Evolutionary Algorithm Based Path Planning for Multiple UAV Cooperation
308
Epilogue
530
Conclusions and the Road Ahead
531
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