This book provides an introduction to the emerging field of
planning and decision making for aerial robots. An aerial robot is
the ultimate form of Unmanned Aerial Vehicle, an aircraft endowed
with built-in intelligence, requiring no direct human control and
able to perform a specific task. It must be able to fly within a
partially structured environment, to react and adapt to changing
environmental conditions and to accommodate for the uncertainty
that exists in the physical world. An aerial robot can be termed as
a physical agent that exists and flies in the real 3D world, can
sense its environment and act on it to achieve specific goals. So
throughout this book, an aerial robot will also be termed as an
agent.
Fundamental problems in aerial robotics include the tasks of
spatial motion, spatial sensing and spatial reasoning. Reasoning in
complex environments represents a difficult problem. The issues
specific to spatial reasoning are planning and decision making.
Planning deals with the trajectory algorithmic development based on
the available information, while decision making determines
priorities and evaluates potential environmental uncertainties.
The issues specific to planning and decision making for aerial
robots in their environment are examined in this book and
categorized as follows: motion planning, deterministic decision
making, decision making under uncertainty and finally multi-robot
planning. A variety of techniques are presented in this book, and a
number of relevant case studies are examined. The topics considered
in this book are multidisciplinary in nature and lie at the
intersection of Robotics, Control Theory, Operational Research and
Artificial Intelligence.
General
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