Book Description:
This book presents new research on autonomous mobility capabilities and shows how technological advances can be anticipated in the coming two decades. An indepth description is presented on the theoretical foundations and engnieering approaches that enable these capabilities.
Chapter 1 provides a brief introduction to the 4D/RCS reference model architecture and design methodology that has proven successful in guiding the development of autonomous mobility systems. Chapters 2 through 7 provide more detailed descriptions of research that has been conducted and algorithms that have been developed to implement the various aspects of the 4D/RCS reference model architecture and design methodology. Chapters 8 and 9 discuss applications, performance measures, and standards. Chapter 10 provides a history of Army and DARPA research in autonomous ground mobility. Chapter 11 provides a perspective on the potential future developments in autonomous mobility.

Table of Contents:
About the Editors
About the Authors
Abbreviations/Acronyms
Preface

Chapter 1 - 4D/RCS References Model Architecture for Unmanned
Ground Vehicles; pp. 1-30
(James Albus and Anthony Barbera)

Chapter 2 - A Task Analysis Methodology for the Derivation and
Organization of Knowledge for Real-time Control
Systems; pp. 31-51
(Anthony Barbera and James Albus)

Chapter 3 - Behavior Generation; pp. 53-94
(Stephen Balakirsky, Tom Kramer, Fred Proctor and Tony Barbera)

Chapter 4 - World Modeling and Knowledge Representation; pp. 95-127
(Craig Schlenoff and Elena Messina)

Chapter 5 - Sensory Processing; pp. 129-171
(Michael Sheneier, Tsai Hong, Tommy Chang and Mike Foedisch)

Chapter 6 - Temporal Registration of Sensed Range Images for
Autonomous Navigation; pp. 173-198
(R. Madhavan, Tsai Hong and Elena Messina)

Chapter 7 - Advanced LADAR for Driving Unmanned Ground
Vehicles; pp. 199-226
(Maris Juberts, Anthony Barbera and Sandor Szabo)

Chapter 8 - Standards-Based Architectural Framework for Intelligent
Autonomous Vehicles; pp. 227-245
(Hui-Min Huang, Elena Messina and James Albus)

Chapter 9 - Performance Evaluation of Autonomous Mobile Robots;
pp. 247-282
(Elena Messina, Adam Jacoff and Harry Scott)

Chapter 10 - Development of Semi-Autonomous Robotic Ground
Vehicles: DoD's Ground Robotics Research Programs:
Demo I through Demo III; pp. 283-315
(Charles Shoemaker)

Epilog pp.317-322
Glossary pp.323-328
Index pp.329-342