This book introduces the topics most relevant to autonomously flying flapping wing robots: flapping-wing design, aerodynamics, and artificial intelligence. Readers can explore these topics in the context of the "Delfly", a flapping wing robot designed at Delft University in The Netherlands. How are tiny fruit flies able to lift their weight, avoid obstacles and predators, and find food or shelter? The first step in emulating this is the creation of a micro flapping wing robot that flies by itself. The challenges are considerable: the design and aerodynamics of flapping wings are still active areas of scientific research, whilst artificial intelligence is subject to extreme limitations deriving from the few sensors and minimal processing onboard. This book conveys the essential insights that lie behind success such as the DelFly Micro and the DelFly Explorer. The DelFly Micro, with its 3.07 grams and 10 cm wing span, is still the smallest flapping wing MAV in the world carrying a camera, whilst the DelFly Explorer is the world's first flapping wing MAV that is able to fly completely autonomously in unknown environments. The DelFly project started in 2005 and ever since has served as inspiration, not only to many scientific flapping wing studies, but also the design of flapping wing toys. The combination of introductions to relevant fields, practical insights and scientific experiments from the DelFly project make this book a must-read for all flapping wing enthusiasts, be they students, researchers, or engineers.

Following the successful 1st CEAS (Council of European Aerospace Societies) Specialist Conference on Guidance, Navigation and Control (CEAS EuroGNC) held in Munich, Germany in 2011, Delft University of Technology happily accepted the invitation of organizing the 2nd CEAS EuroGNC in Delft, The Netherlands in 2013. The goal of the conference is to promote new advances in aerospace GNC theory and technologies for enhancing safety, survivability, efficiency, performance, autonomy and intelligence of aerospace systems using on-board sensing, computing and systems. A great push for new developments in GNC are the ever higher safety and sustainability requirements in aviation. Impressive progress was made in new research fields such as sensor and actuator fault detection and diagnosis, reconfigurable and fault tolerant flight control, online safe flight envelop prediction and protection, online global aerodynamic model identification, online global optimization and flight upset recovery. All of these challenges depend on new online solutions from on-board computing systems. Scientists and engineers in GNC have been developing model based, sensor based as well as knowledge based approaches aiming for highly robust, adaptive, nonlinear, intelligent and autonomous GNC systems. Although the papers presented at the conference and selected in this book could not possibly cover all of the present challenges in the GNC field, many of them have indeed been addressed and a wealth of new ideas, solutions and results were proposed and presented. For the 2nd CEAS Specialist Conference on Guidance, Navigation and Control the International Program Committee conducted a formal review process. Each paper was reviewed in compliance with good journal practice by at least two independent and anonymous reviewers. The papers published in this book were selected from the conference proceedings based on the results and recommendations from the reviewers.

What is Unmanned Ground Vehicle An unmanned ground vehicle (UGV) is a vehicle that operates while in contact with the ground without an onboard human presence. UGVs can be used for many applications where it is inconvenient, dangerous, expensive, or impossible to use an onboard human operator. Typically, the vehicle has sensors to observe the environment, and autonomously controls its behavior or uses a remote human operator to control the vehicle via teleoperation. How you will benefit (I) Insights, and validations about the following topics: Chapter 1: Unmanned ground vehicle Chapter 2: DARPA Chapter 3: Autonomous robot Chapter 4: Military robot Chapter 5: Micro air vehicle Chapter 6: Foster-Miller TALON Chapter 7: Mobile robot Chapter 8: TerraMax Chapter 9: Gladiator Tactical Unmanned Ground Vehicle Chapter 10: Black Knight (vehicle) (II) Answering the public top questions about unmanned ground vehicle. Who this book is for Professionals, undergraduate and graduate students, enthusiasts, hobbyists, and those who want to go beyond basic knowledge or information for any kind of Unmanned Ground Vehicle.

Flying insects are intelligent micromachines capable of exquisite maneuvers in unpredictable environments. Understanding these systems advances our knowledge of flight control, sensor suites, and unsteady aerodynamics, which is of crucial interest to engineers developing intelligent flying robots or micro air vehicles (MAVs). The insights we gain when synthesizing bioinspired systems can in turn benefit the fields of neurophysiology, ethology and zoology by providing real-life tests of the proposed models. This book was written by biologists and engineers leading the research in this crossdisciplinary field. It examines all aspects of the mechanics, technology and intelligence of insects and insectoids. After introductory-level overviews of flight control in insects, dedicated chapters focus on the development of autonomous flying systems using biological principles to sense their surroundings and autonomously navigate. A significant part of the book is dedicated to the mechanics and control of flapping wings both in insects and artificial systems. Finally hybrid locomotion, energy harvesting and manufacturing of small flying robots are covered. A particular feature of the book is the depth on realization topics such as control engineering, electronics, mechanics, optics, robotics and manufacturing. This book will be of interest to academic and industrial researchers engaged with theory and engineering in the domains of aerial robotics, artificial intelligence, and entomology.

What Is Swarm Robotics An approach to the coordination of several robots as a system, swarm robotics is characterized by its use of a large number of fairly straightforward physical robots. It is a subfield of swarm robotics. It is hypothesized that the interactions between the robots, as well as the interactions of the robots with their surroundings, will lead to the emergence of the desired collective behavior. This method originated in the realm of artificial swarm intelligence, as well as the biological studies of insects, ants, and other natural domains that exhibit swarm behavior. How You Will Benefit (I) Insights, and validations about the following topics: Chapter 1: Swarm robotics Chapter 2: Autonomous robot Chapter 3: Unmanned aerial vehicle Chapter 4: Flocking (behavior) Chapter 5: Swarm behaviour Chapter 6: Boids Chapter 7: Micro air vehicle Chapter 8: Swarm intelligence Chapter 9: Multi-agent system Chapter 10: Robert C. Michelson Chapter 11: Mobile robot Chapter 12: Autonomous logistics Chapter 13: IISc Guidance, Control and Decision Systems Laboratory Chapter 14: Uncrewed vehicle Chapter 15: Autonomous aircraft Chapter 16: Roland Siegwart Chapter 17: Swarm robotic platforms Chapter 18: List of unmanned aerial vehicle applications Chapter 19: Swarm 3D printing Chapter 20: Drones in wildfire management Chapter 21: Margarita Chli (II) Answering the public top questions about swarm robotics. (III) Real world examples for the usage of swarm robotics in many fields. (IV) 17 appendices to explain, briefly, 266 emerging technologies in each industry to have 360-degree full understanding of swarm robotics' technologies. Who This Book Is For Professionals, undergraduate and graduate students, enthusiasts, hobbyists, and those who want to go beyond basic knowledge or information for any kind of swarm robotics.

Given the popularity of drones and the fact that they are easy and cheap to buy, it is generally expected that the ubiquity of drones will significantly increase within the next few years. This raises questions as to what is technologically feasible (now and in the future), what is acceptable from an ethical point of view and what is allowed from a legal point of view. Drone technology is to some extent already available and to some extent still in development. The aim and scope of this book is to map the opportunities and threats associated with the use of drones and to discuss the ethical and legal issues of the use of drones. This book provides an overview of current drone technologies and applications and of what to expect in the next few years. The question of how to regulate the use of drones in the future is addressed, by considering conditions and contents of future drone legislation and by analyzing issues surrounding privacy and safeguards that can be taken. As such, this book is valuable to scholars in several disciplines, such as law, ethics, sociology, politics and public administration, as well as to practitioners and others who may be confronted with the use of drones in their work, such as professionals working in the military, law enforcement, disaster management and infrastructure management. Individuals and businesses with a specific interest in drone use may also find in the nineteen contributions contained in this volume unexpected perspectives on this new field of research and innovation. Bart Custers is Associate Professor and Head of Research at eLaw, the Center for Law and Digital Technologies at Leiden University, The Netherlands. He has presented his work at international conferences in the United States, China, Japan, the Middle East and throughout Europe and has published over 80 scientific, professional and popularizing publications, including three books.

Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text give the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.

The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/

This book introduces students to the dynamic and complex enterprise that is homeland security. Using a broad lens, the authors explore key operational and content areas, as well as the practices and policies that are part of an effective homeland security program. With original essays from academics and practitioners, the book encapsulates the breadth of homeland security as it exists today. Topical coverage includes: administration, intelligence, critical infrastructure protection, emergency management, terrorism and counterterrorism, law and policy, technology and systems, strategic planning, strategic communication, civil-military affairs, private sector involvement, environmental security, and public health. Accessible, engaging, and comprehensive, this is an essential resource for courses on homeland security.