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Autonomous underwater vehicles : localization, tracking, and formation / / Jing Yan [et al.]
| Autonomous underwater vehicles : localization, tracking, and formation / / Jing Yan [et al.] |
| Autore | Yan Jing |
| Pubbl/distr/stampa | Singapore : , : Springer, , [2021] |
| Descrizione fisica | 1 online resource (222 pages) |
| Disciplina | 623.8205 |
| Collana | Cognitive Intelligence and Robotics |
| Soggetto topico | Autonomous underwater vehicles |
| ISBN | 981-16-6096-4 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Intro -- Preface -- Contents -- Symbols and Acronyms -- 1 Introduction -- 1.1 Underwater Observation Network -- 1.2 An Overview of the Existing Works -- 1.2.1 Ubiquitous Localization of AUVs -- 1.2.2 Persistent Tracking Control for a Single AUV -- 1.2.3 Cooperative Formation for Multiple AUVs -- 1.3 Research Challenges and Contributions of This Book -- References -- 2 Rigid Graph-Based Asynchronous Localization of AUVs -- 2.1 Introduction -- 2.2 Network Model and Problem Formulation -- 2.2.1 Network Model -- 2.2.2 Problem Formulation -- 2.3 Main Results -- 2.3.1 Observer-Based Motion Prediction for AUV -- 2.3.2 Minimum Rigid Graph-Based Localization -- 2.3.3 Performance Analyses -- 2.4 Simulation and Experimental Results -- 2.4.1 Simulation Studies -- 2.4.2 Experiment Studies -- 2.5 Conclusion -- References -- 3 Slide Mode-Based Joint Localization and Tracking of a Single AUV -- 3.1 Introduction -- 3.2 System Model and Problem Formulation -- 3.2.1 Model Constructions -- 3.2.2 Problem Formulation -- 3.3 Joint Localization and Tracking Design -- 3.3.1 Self-localization Algorithm Design -- 3.3.2 Model-Free Tracking Controller Design -- 3.4 Performance Analysis -- 3.4.1 Convergence of the Localization Algorithm -- 3.4.2 CRLB of the Localization Algorithm -- 3.4.3 Boundness of the TDE Error -- 3.4.4 Convergence for the Tracking Controller -- 3.5 Simulation and Experimental Results -- 3.5.1 Simulation Studies -- 3.5.2 Experimental Studies -- 3.6 Conclusion -- References -- 4 Joint Localization and Tracking of AUV Via Multivariate Probabilistic Collocation -- 4.1 Introduction -- 4.2 System Model and Problem Formulation -- 4.2.1 Model Constructions -- 4.2.2 Problem Formulation -- 4.3 Joint Localization and Tracking Design -- 4.3.1 Self-localization Algorithm Design -- 4.3.2 RL-Based Tracking Controller Design -- 4.4 Simulation Studies -- 4.5 Conclusion.
References -- 5 Finite-Time Tracking Control of AUV with Model Uncertainty -- 5.1 Introduction -- 5.2 System Formulation -- 5.3 Control Design and Stability Analysis -- 5.3.1 Tracking Control Without Disturbance -- 5.3.2 Finite-Time Tracking Control with Disturbances -- 5.4 Simulation -- 5.5 Conclusion -- References -- 6 Finite-Time Tracking Control of AUV Without Velocity Measurements -- 6.1 Introduction -- 6.2 Problem Formulation -- 6.3 Finite-Time Tracking Approach -- 6.3.1 Finite-Time Velocity Observer -- 6.3.2 A-NFTSM Tracking Controller -- 6.4 Performance Analyses -- 6.4.1 Accuracy of the Buoy-Assisted Localization -- 6.4.2 Stability Analysis for the Velocity Observer -- 6.4.3 Stability Analysis for the Tracking Controller -- 6.5 Simulation and Experimental Studies -- 6.5.1 Simulation Studies -- 6.5.2 Experimental Studies -- 6.6 Conclusion -- References -- 7 Tracking Control of AUV with Time Delay and Input Saturation -- 7.1 Introduction -- 7.2 Model and Problem Formulation -- 7.3 Controller Design and Stability Analysis -- 7.3.1 Design of the Tracking Controller -- 7.3.2 Stability Condition and DOA Estimation -- 7.4 Simulation and Experiment Results -- 7.4.1 Simulation Studies -- 7.4.2 Implementation and Experimental Studies -- 7.5 Conclusion -- References -- 8 Tracking and Formation for Multiple AUVs with Time Delay -- 8.1 Introduction -- 8.2 Problem Formulation -- 8.3 Controller Design and Stability Analysis -- 8.3.1 Tracking Control for Single-AUV System -- 8.3.2 Formation Control for Multi-AUV System -- 8.4 Simulation and Experimental Results -- 8.4.1 Simulation Studies -- 8.4.2 Experimental Studies -- 8.5 Conclusion -- References -- 9 Future Research Directions -- 9.1 Space-Air-Ground-Sea Network Architecture -- 9.2 Channel Prediction for Communication Support -- 9.3 Model-Free Optimization Control -- References. |
| Record Nr. | UNISA-996464395703316 |
Yan Jing
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| Singapore : , : Springer, , [2021] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. di Salerno | ||
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Autonomous Underwater Vehicles : Localization, Tracking, and Formation / / by Jing Yan, Xian Yang, Haiyan Zhao, Xiaoyuan Luo, Xinping Guan
| Autonomous Underwater Vehicles : Localization, Tracking, and Formation / / by Jing Yan, Xian Yang, Haiyan Zhao, Xiaoyuan Luo, Xinping Guan |
| Autore | Yan Jing |
| Edizione | [1st ed. 2021.] |
| Pubbl/distr/stampa | Singapore : , : Springer Nature Singapore : , : Imprint : Springer, , 2021 |
| Descrizione fisica | 1 online resource (222 pages) |
| Disciplina | 623.8205 |
| Collana | Cognitive Intelligence and Robotics |
| Soggetto topico |
Automatic control
Robotics Automation Computer engineering Computer networks Application software Underwater acoustics Control, Robotics, Automation Computer Engineering and Networks Computer and Information Systems Applications Control and Systems Theory Underwater Acoustics |
| ISBN | 981-16-6096-4 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Chapter 1 Introduction -- Chapter 2 Persistent Localization of Autonomous Underwater Vehicles without Velocity Measurements -- Chapter 3 Joint Localization and Tracking of Autonomous Underwater Vehicle with State Disturbances -- Chapter 4 Joint Localization and Tracking of Autonomous Underwater Vehicle with Model Uncertainty -- Chapter 5 Tracking Control of Autonomous Underwater Vehicle with time Delay and Actuator Saturation -- Chapter 6 Finite-Time Tracking Control of Autonomous Underwater Vehicle without Velocity Measurements -- Chapter 7 Formation Control of Autonomous Underwater Vehicles with Communication Delay. |
| Record Nr. | UNINA-9910508458703321 |
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Yan Jing
|
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| Singapore : , : Springer Nature Singapore : , : Imprint : Springer, , 2021 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Localization in underwater sensor networks / / Jing Yan [and three others]
| Localization in underwater sensor networks / / Jing Yan [and three others] |
| Autore | Yan Jing |
| Pubbl/distr/stampa | Gateway East, Singapore : , : Springer, , [2021] |
| Descrizione fisica | 1 online resource (231 pages) |
| Disciplina | 681.2 |
| Collana | Wireless networks (Springer Firm) |
| Soggetto topico | Wireless sensor networks |
| ISBN | 981-16-4831-X |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Intro -- Preface -- Contents -- About the Authors -- Acronyms -- Symbols -- 1 Introduction -- 1.1 Underwater On-Line Monitoring System -- 1.2 Localization Schemes for Wireless Sensor Networks -- 1.2.1 Localization with AOA Measurements -- 1.2.2 Localization with Distance-Related Measurements -- 1.2.2.1 Localization with TOA Measurement -- 1.2.2.2 Localization with TDOA Measurement -- 1.2.2.3 Localization with RSS Measurement -- 1.2.2.4 Localization with Lighthouse Approach -- 1.2.3 Localization with RSS Profiling Measurements -- 1.3 Unique Characteristics of USNs -- 1.4 Problems Studied in This Book -- References -- 2 Asynchronous Localization of Underwater Sensor Networks with Mobility Prediction -- 2.1 Introduction -- 2.2 Network Architecture and Overview of the Localization -- 2.2.1 Network Architecture -- 2.2.2 Overview of the Localization -- 2.3 Asynchronous Localization Approach Design -- 2.3.1 Relationship Between Delay and Position -- 2.3.2 Mobility Prediction for AUVs and Sensor Nodes -- 2.3.3 Asynchronous Localization Optimization Problem -- 2.4 Position Solving and Performance Analysis -- 2.4.1 Position Solving for Sensor Nodes -- 2.4.2 Convergence of the Iterative Squares Estimators -- 2.4.3 Cramér-Rao Lower Bound -- 2.5 Simulation Results -- 2.5.1 Simulation Settings -- 2.5.2 Results and Analysis -- 2.6 Conclusion -- References -- 3 Async-Localization of USNs with Consensus-Based Unscented Kalman Filtering -- 3.1 Introduction -- 3.2 Network Architecture and Overview of the Localization Procedure -- 3.2.1 Network Architecture -- 3.2.2 Overview of the Localization Procedure -- 3.3 Consensus-Based UKF Localization Approach -- 3.3.1 Relationship Between Delay and Position -- 3.3.2 Asynchronous Localization Optimization Problem -- 3.3.3 Consensus-Based UKF Localization Algorithm -- 3.4 Performance Analysis -- 3.4.1 Convergence Conditions.
3.4.2 Cramér-Rao Lower Bound -- 3.4.3 Error of Acoustic Wave Speed -- 3.4.4 Computational Complexity Analysis -- 3.5 Simulation Results -- 3.5.1 Simulation Settings -- 3.5.2 Results and Analysis -- 3.6 Conclusion -- References -- 4 Reinforcement Learning-Based Asynchronous Localization of USNs -- 4.1 Introduction -- 4.2 System Description and Problem Formulation -- 4.3 RL-Based Localization for USNs -- 4.3.1 AUV-Aided Asynchronous Localization Protocol -- 4.3.2 RL-Based Localization Algorithm -- 4.3.3 Performance Analysis -- 4.4 Simulation and Experimental Results -- 4.4.1 Simulation Results -- 4.4.2 Experimental Results -- 4.5 Conclusion -- References -- 5 Privacy Preserving Asynchronous Localization of USNs -- 5.1 Introduction -- 5.2 Network Architecture and the Asynchronous Localization Protocol -- 5.2.1 Network Architecture -- 5.2.2 Asynchronous Localization Protocol -- 5.3 Asynchronous Localization Algorithms -- 5.3.1 PPS-Based Localization for Active Sensor -- 5.3.2 PPS and PPDP Based Localization for Ordinary Sensor -- 5.3.3 Consequence when There Exist Dishonest Nodes -- 5.4 Performance Analyses -- 5.4.1 Equivalence Analyses -- 5.4.2 Level of Privacy Preservation -- 5.4.3 Collision Avoidance of Packet -- 5.4.4 Communication Overhead -- 5.5 Simulation and Experiment Results -- 5.5.1 Simulation Studies -- 5.5.2 Experiment Studies -- 5.6 Conclusion -- References -- 6 Privacy Preserving Asynchronous Localization with Attack Detection and Ray Compensation -- 6.1 Introduction -- 6.2 Network Model and Problem Formulation -- 6.2.1 Network Architecture -- 6.2.2 Clock and Stratification Models -- 6.2.3 Attack and Privacy Models -- 6.2.4 Problem Formulation -- 6.3 Privacy-Preserving Localization for USNs -- 6.3.1 Privacy-Preserving Asynchronous Transmission Protocol -- 6.3.2 Privacy-Preserving Estimator with Ray Compensation -- 6.4 Performance Analyses. 6.4.1 Equivalence with the Privacy-Lacking Estimation -- 6.4.2 Influencing Factors of Localization Errors -- 6.4.3 Privacy-Preserving Property -- 6.4.4 Tradeoff Between Privacy and Transmission Cost -- 6.5 Simulation and Experiment Results -- 6.5.1 Simulation Studies -- 6.5.2 Experimental Studies -- 6.6 Conclusion -- References -- 7 Deep Reinforcement Learning Based Privacy Preserving Localization of USNs -- 7.1 Introduction -- 7.2 Network Architecture and Problem Formulation -- 7.2.1 Network Architecture -- 7.2.2 Adversary and Privacy Models -- 7.2.3 Scenario Description -- 7.2.4 Problem of Interest -- 7.3 Privacy-Preserving Localization Protocol -- 7.4 DRL-Based Localization Estimator -- 7.4.1 Localization when All Data Is Unlabelled -- 7.4.2 Localization when Labelled Data Occupies the Majority -- 7.4.3 Localization when Unlabelled Data Occupies the Majority -- 7.4.4 Performance Analysis -- 7.5 Simulation Results -- 7.6 Conclusion -- References -- 8 Future Research Directions -- 8.1 Space-Air-Ground-Sea Network Architecture -- 8.2 Intergradation Design of Localization Protocol -- 8.3 Learning-Based Optimization Estimator. |
| Record Nr. | UNISA-996464424003316 |
|
Yan Jing
|
||
| Gateway East, Singapore : , : Springer, , [2021] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. di Salerno | ||
| ||
Localization in Underwater Sensor Networks / / by Jing Yan, Haiyan Zhao, Yuan Meng, Xinping Guan
| Localization in Underwater Sensor Networks / / by Jing Yan, Haiyan Zhao, Yuan Meng, Xinping Guan |
| Autore | Yan Jing |
| Edizione | [1st ed. 2021.] |
| Pubbl/distr/stampa | Singapore : , : Springer Nature Singapore : , : Imprint : Springer, , 2021 |
| Descrizione fisica | 1 online resource (231 pages) |
| Disciplina | 681.2 |
| Collana | Wireless Networks |
| Soggetto topico |
Computer networks
Computer engineering Application software Mobile computing Data protection Robotics Computer Communication Networks Computer Engineering and Networks Computer and Information Systems Applications Mobile Computing Data and Information Security |
| ISBN | 981-16-4831-X |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Chapter 1 Introduction -- Chapter 2 Asynchronous Localization of Underwater Sensor Networks with Mobility Prediction -- Chapter 3 Asynchronous Localization of Underwater Sensor Networks with Consensus-Based Unscented Kalman Filtering -- Chapter 4 Reinforcement Learning Based Asynchronous Localization of Underwater Sensor Networks -- Chapter 5 Privacy Preserving Asynchronous Localization of Underwater Sensor Networks -- Chapter 6 Privacy-Preserving Asynchronous Localization of Underwater Sensor Network with Attack Detection and Ray Compensation -- Chapter 7 Deep Reinforcement Learning Based Privacy-Preserving Localization of Underwater Sensor Networks -- Chapter 8 Conclusion and future perspective. |
| Record Nr. | UNINA-9910508473603321 |
|
Yan Jing
|
||
| Singapore : , : Springer Nature Singapore : , : Imprint : Springer, , 2021 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||