Autonomous Underwater Vehicles

Chapter 1: Introduction
Part I: Control

Chapter 2: Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimation
Chapter 3: Sensor-based motion control of autonomous underwater vehicles, part II: robust motion control strategies
Chapter 4: Adaptive-robust control of autonomous underwater vehicle with unknown system dynamics



Part II: Navigation

Chapter 5: AUV navigation: challenges and solutions
Chapter 6: Ultra-endurance AUVs: energy requirements and terrain-aided navigation
Chapter 7: A simplified version of SLAM: data compression and data association for common UUV missions



Part III: Toolset

Chapter 8: Toolchain for autonomous systems and its use in real-life scenarios: from science to defence
Chapter 9: Telemetry for AUVs
Chapter 10: Pressure-tolerant and pressure-neutral systems for AUV



Part IV: Cooperation

Chapter 11: Optimization of waterspace management and scheduling for multiple unmanned vehicles
Chapter 12: MONSUN: a swarm AUV for environmental monitoring and inspection
Chapter 13: Reconfigurable, adaptable, multi-modality, mobile, wireless, energy-efficient, underwater sensor network of hover-capable AUVs



Part V: Methodology

Chapter 14: Task specification and behavior verification for UUV behavior design
Chapter 15: Advanced AUV fault management
Chapter 16: Designing, building and testing a fleet of novel AUV under the elevated requirements of an XPRIZE competition



Part VI: Application

Chapter 17: AUV navigation, guidance, and control for geoseismic data acquisition
Chapter 18: Adaptive sampling and energy-efficient navigation in time-varying flows
Chapter 19: Summary, conclusions, and future work