Content

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   Acknowledgements
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   Zusammenfassung
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   Abstract
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   Table of Contents
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   Introduction
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   Motivation
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   Objectives and Contribution
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   Outline
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   Evolution of Autonomous Systems
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  Autonomous Systems in Nature
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   Ants
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   Bees
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   Flocks of Birds and Schools of Fish
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   Division of Labor
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  Autonomous Robotic Systems
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   Single Robot Control
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   Cooperative Behavior
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   Robot Control Areas
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   State-of-the-Art
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   Robots
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   UAV Path Planning
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   UAV Formation Flights
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   Cooperative UAV Behavior
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   Contrasting the Thesis
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   Summary
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   Cooperative Path Planning Foundations
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   Path Planning
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   Problem Statement
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   Configuration Space
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   Occupied Space
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   Free Space
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   Cell Decomposition
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   Potential Field Theory
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   Harmonic Functions
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  Formation Flights
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   Requirements
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   Bifurcation Theory
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   Cooperative Behavior
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   Task Creation
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   Multi-Robot Task Allocation
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   Verification
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   Lyapunov Stability
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   Lyapunov's Direct Method
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   LaSalle Theorem
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   Lyapunov's Indirect Method
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   Summary
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   Architectural System Design
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   System Overview
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   World Creation and Modeling
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   UAV Architecture
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   UAV World Model
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   Representation of Environmental Changes
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   Environment Mapping
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   Node Properties
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   Node Determination
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   UAV Configuration
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   UAV Camera Equipment
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   Communication
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   Summary
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   Decentralized UAV Flights
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   Problem Statement
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   State-of-the-Art
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  Harmonic Potential Field Computation
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   Dirichlet Boundary Condition
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   First Approximation
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   Relaxation
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   Performance Optimization
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   Algorithm
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   Path Planning
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   Exploratory Navigation
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  Verification
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   Lyapunov Function Candidate
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   Convergence
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   Summary
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   Behavioral Formation Flights
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   Problem Statement
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   State-of-the-Art
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  Bifurcating Potential Field
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   Formation Potential Field
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   Superpositioned Potential Field
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   Resulting Potential Fields
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   Overview of Formation Shapes
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   Formation Handling
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   Requirements
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   Formation Flights
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   Formation Rotation
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   Verification
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   Lyapunov Function Candidate
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   Local Convergence
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   Global Convergence
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   Conclusion
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   Summary
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   Cooperative Behavior
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   Problem Statement
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   Autonomous Task Creation
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   Task Allocation
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   State-of-the-Art
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   Task Handling Background
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   Task Properties and Definition
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   Division of Labor
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   Task Allocation Constraints
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  Task Handling
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   Autonomous Task Creation
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   Task Allocation
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   Summary
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   Evaluation
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   Assumptions
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   Experimental Setup
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   Measured Values and Parameter Settings
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   Decentralized Exploration
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   Known Environment
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   Unknown Environment
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   Exploration in Formation
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   Known Environment
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   Unknown Environment
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   Cooperative Behavior
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   Behavioral Exploration
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   Single UAV Obstacle Avoidance
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   Obstacle Avoidance in Formation
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   Single UAV Task Allocation
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   Multi-UAV Task Allocation
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   Conclusion
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   Summary
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  Summary and Outlook
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   Summary
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   Contributions
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   Outlook
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   Algorithms
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   Neighbor Finding
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   Flood Fill
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   Update Octree
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   Combine Octree
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   Harmonic Potential Field Calculations
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   Bifurcating Potential Field Calculations
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   Task Creation
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   Task Allocation
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   Definitions
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   Nomenclature
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   List of Figures
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   List of Tables
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   Own Publications Related to the Thesis
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   Bibliography