Collaborative Fleet Maneuvering for Multiple Autonomous Vehicle Systems

1 Introduction<div>1.1 Background</div><div>1.1.1 Motivations</div><div>1.1.2 Challenges</div><div>1.2 Objectives of This Book</div><div>1.3 Preview of Chapters</div><div>References</div>2 Technical Background<div>2.1 Vehicle Model</div><div>2.1.1 Kinematic Model</div><div>2.1.2 Dynamic Model</div><div>2.2 Fleet Configuration</div><div>2.2.1 Description</div><div>2.2.2 Several Common Configurations</div><div>2.2.3 Optimal Configuration</div><div>2.3 Collaborative Localization</div><div>2.3.1 Infrastructure-Based Localization</div><div>2.3.2 Infrastructure-Free Localization</div><div>2.4 Fleet Keeping and Reconstruction</div><div>2.4.1 Fleet Keeping</div><div>2.4.2 Fleet Reconstruction</div><div>2.5 Collision Avoidance</div>2.5.1 Map-Based Collision Avoidance<div>2.5.2 Reactive Collision Avoidance</div><div>References</div><div>3 GPS/INS Based Virtual-Structure Maneuvering in Outdoor Open Environments</div><div>3.1 Introduction</div><div>3.2 Problem Formulation</div><div>3.2.1 Vehicle Model</div>3.2.2 Fleet Configuration<div>3.2.3 Problem Statement</div><div>3.3 Approach</div><div>3.3.1 Collaborative Localization Based on GPS/INS</div><div>3.3.2 Motion Planning and Control for Fleet Keeping</div><div><div>3.3.3 Intra-Fleet Information Sharing</div><div>3.4 Validation</div><div>3.4.1 Experimental Setup</div><div>3.4.2 Experimental Results</div><div>3.5 Conclusions</div><div>References</div><div>4 Point Cloud Matching Based Virtual-Structure Maneuvering in Cluttered</div><div>Environments</div><div>4.1 Introduction</div><div>4.2 Problem Formulation</div><div>4.2.1 Vehicle Model</div><div>4.2.2 Fleet Configuration</div><div>4.2.3 Problem Statement</div><div>4.3 Approach</div><div>4.3.1 Collaborative Localization Based on Point Cloud Matching</div><div>4.3.2 Motion Planning and Control with Multiple Objectives</div><div>4.3.3 Intra-Fleet Information Sharing</div><div>4.4 Validation</div><div>4.4.1 Experimental Setup</div>4.4.2 Experimental Results</div><div>4.5 Conclusions</div><div>References</div><div>5 UWB Based Flexible Fleet Maneuvering in Featureless Environments</div><div>5.1 Introduction</div><div>5.2 Problem Formulation</div><div>5.2.1 Vehicle Model</div><div>5.2.2 Fleet Configuration</div><div>5.2.3 Problem Statement</div><div>5.3 Approach</div><div>5.3.1 Collaborative Localization Based on UWB</div><div>5.3.2 Motion Planning and Control for Flexile Fleet Keeping</div><div>5.3.3 Intra-Fleet Information Sharing</div><div>5.4 Validation</div><div>5.4.1 Experimental Setup</div><div>5.4.2 Experimental Results</div><div>5.5 Conclusions</div><div>References</div><div><div>6 Vision Based Leader-Follower Queue Maneuvering in Cluttered Environments</div><div>6.1 Introduction</div><div>6.2 Problem Formulation</div><div>6.2.1 Vehicle Model</div><div>6.2.2 Fleet Configuration</div><div>6.2.3 Leader-Loss Situation</div><div>6.2.4 Problem Statement</div><div>6.3 Approach</div><div>6.3.1 Collaborative Localization Based on Vision Detection</div><div>6.3.2 Motion Planning and Control for Leader-Follower Queue Keeping</div><div>6.3.3 Solution to Leader-Loss Situation</div><div>6.3.4 Intra-Fleet Information Sharing</div><div>6.4 Validation</div><div>6.4.1 Experimental Setup</div><div>6.4.2 Experimental Results</div><div>6.5 Conclusions</div><div>References</div><div>7 Vision Based Flexible Fleet Maneuvering in Cluttered Environments</div><div>7.1 Introduction</div><div>7.2 Problem Formulation</div><div>7.2.1 Vehicle Model</div>7.2.2 Fleet Configuration</div><div>7.2.3 Problem Statement</div><div>7.3 Approach</div><div>7.3.1 Collaborative Localization Based on Vision Detection</div><div>7.3.2 Motion Planning and Control for Flexible Fleet Keeping</div><div>7.3.3 Intra-Fleet Information Sharing</div><div>7.4 Validation</div><div>7.4.1 Experimental Setup</div><div>7.4.2 Experimental Results</div><div>7.5 Conclusions</div><div>References</div><div>8 Local Map Matching Based Leader-Follower Path Retracing Maneuvering in GPS-Denied Environments</div><div>8.1 Introduction</div><div>8.2 Problem Formulation</div><div><div>8.2.1 Vehicle Model</div><div>8.2.2 Fleet Configuration</div><div>8.2.3 Problem Statement</div><div>8.3 Approach</div><div>8.3.1 Collaborative Localization Based on Local Map Matching</div><div>8.3.2 Motion Planning and Control for Leader-Follower Path Retracing</div><div>8.3.3 Intra-Fleet Information Sharing</div><div>8.4 Validation</div><div>8.4.1 Experimental Setup</div><div>8.4.2 Experimental Results</div><div>8.5 Conclusions</div><div>References</div><div>9 Multi-UAV Optimal Fleet Flying for Area Patrol in Constrained Environments</div><div>9.1 Introduction</div><div>9.2 Problem Formulation</div><div>9.2.1 Vehicle Model</div><div>9.2.2 Fleet Configuration</div><div>9.2.3 Problem Statement</div><div>9.3 Approach</div><div>9.3.1 Optimal Configuration for Area Patrol</div><div>9.3.2 Motion Planning and Control for Fleet Keeping</div><div>9.3.3 Information Sharing Strategy</div><div>9.4 Validation</div><div>9.4.1 Simulation Setup</div><div>9.4.2 Simulation Results</div><div>9.5 Conclusions</div><div>References</div><div>10 Conclusion</div><div>10.1 Summary</div><div>10.2 Open Challenges</div></div>