Navigation of Autonomous Marine Robots

1. Front Matter

   Pages I-XXX

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2. Introduction

   • Thomas Glotzbach

   Pages 1-27

3. Navigation in Marine Robotics: Methods, Classification and State of the Art

   • Thomas Glotzbach

   Pages 29-73

4. Problem Formulation and Definitions for the Discussions to Follow

   • Thomas Glotzbach

   Pages 75-85

5. Mathematical Tools Used From the Areas of Control and Systems Engineering

   • Thomas Glotzbach

   Pages 87-206

6. Methods for Cooperative Navigation

   • Thomas Glotzbach

   Pages 207-286

7. Optimal Sensor Placement in Marine Robotics

   • Thomas Glotzbach

   Pages 287-326

8. Combination of Cooperative Navigation and Optimal Sensor Placement

   • Thomas Glotzbach

   Pages 327-342

9. Conclusion and Outlook

   • Thomas Glotzbach

   Pages 343-346

10. Back Matter

    Pages 347-366

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Thomas Glotzbach spotlights that navigation within marine robotics can benefit from cooperative teams in a way that justifies the increased effort to operate several vehicles at once. He features discussions of different scenarios, modeling of systems, and estimation algorithms for comparable situations. The chapter on the used methodologies may allow a reader with only basic knowledge in control theory to obtain deeper insight in advanced concepts such as observability and state estimation, even without any background in marine robotics.

• Cooperative Control
• Autonomous Marine Robots
• Estimation of Position
• Estimation of Orientation
• Estimation of Velocity
• Kalman Filter
• Advanced Control Theory
• Systems Theory
• Navigation
• Guidance
• Cooperating Teams
• Marine Robotics

• FB Elektro- und Informationstechnik, Technische Hochschule Mittelhessen, Gießen, Germany

  Thomas Glotzbach

Dr. Thomas Glotzbach obtained experience in maritime robotics as researcher at Technische Universität Ilmenau, Germany (doctoral and habilitation degree) and at Instituto Superior Técnico, Lisbon, Portugal. Since September 2019, he has been Professor of Control Engineering and Robotics at Technische Hochschule Mittelhessen – University of Applied Sciences, Germany.

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