© 2017

Sensing and Control for Autonomous Vehicles

Applications to Land, Water and Air Vehicles

  • Thor I. Fossen
  • Kristin Y. Pettersen
  • Henk Nijmeijer

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 474)

Table of contents

  1. Front Matter
    Pages i-ix
  2. Vehicle Navigation Systems

    1. Front Matter
      Pages 1-1
    2. Florent Le Bras, Tarek Hamel, Robert Mahony, Claude Samson
      Pages 3-23
    3. Lorenzo Fusini, Thor I. Fossen, Tor Arne Johansen
      Pages 25-50
    4. Stein M. Nornes, Asgeir J. Sørensen, Martin Ludvigsen
      Pages 51-69
  3. Localization and Mapping

    1. Front Matter
      Pages 71-71
    2. Albert Palomer, Pere Ridao, David Ribas, Josep Forest
      Pages 73-88
    3. R. Thomas Sayre-McCord, Chris Murphy, Jeffrey Kaeli, Clayton Kunz, Peter Kimball, Hanumant Singh
      Pages 89-119
    4. Pedro Lourenço, Bruno Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre
      Pages 121-141
    5. Stephen M. Chaves, Enric Galceran, Paul Ozog, Jeffrey M. Walls, Ryan M. Eustice
      Pages 143-160
    6. Fredrik Gustafsson, Gustaf Hendeby
      Pages 161-179
  4. Path Planning

    1. Front Matter
      Pages 181-181
    2. Artur Wolek, Craig A. Woolsey
      Pages 183-206
    3. A. Pedro Aguiar, Florian A. Bayer, John Hauser, Andreas J. Häusler, Giuseppe Notarstefano, Antonio M. Pascoal et al.
      Pages 207-226
  5. Sensing and Tracking Systems

    1. Front Matter
      Pages 227-227
    2. Kristi A. Morgansen, Natalie Brace
      Pages 229-248
    3. Joshua Y. Sakamaki, Randal W. Beard, Michael Rice
      Pages 249-268
    4. Erik F. Wilthil, Andreas L. Flåten, Edmund F. Brekke
      Pages 269-288
    5. Håkon Hagen Helgesen, Frederik Stendahl Leira, Tor Arne Johansen, Thor I. Fossen
      Pages 289-316
  6. Identification and Motion Control of Robotic Vehicles

    1. Front Matter
      Pages 317-317

About this book


This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. 
Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students. 


Autonomous systems Motion control systems Navigation systems Guidance systems Multi-vehicle systems Robust autonomous navigation Underwater vehicles

Editors and affiliations

  • Thor I. Fossen
    • 1
  • Kristin Y. Pettersen
    • 2
  • Henk Nijmeijer
    • 3
  1. 1.Norwegian University of Science and Technology (NTNU)TrondheimNorway
  2. 2.Norwegian University of Science and Technology (NTNU)TrondheimNorway
  3. 3.Eindhoven University of Technology (TuE)EindhovenThe Netherlands

Bibliographic information

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“This is a well-produced, comprehensive compilation of research articles on control theory and sensors for autonomous vehicle systems. Much of the content focuses on theory and/or literature survey, with some examples of recent experimental results. … there are some novel ideas in Sensing and Control for Autonomous Vehicles that will capture the imagination of any underwater technology enthusiast.” (Ron Lewis, Underwater Technology, Vol. 35 (2), 2018)