1 Introduction --  1.1 Aerial robotics --  1.2 Outline of the book --  2 Modeling --  2.1 Introduction --  2.2 Kinematics --  2.2.1 Euler angles --  2.2.2 Euler parameters --  2.3 Dynamics --  2.3.1 Mass Characteristics --  2.3.2 6 DOF Dynamics : Newton-Euler Approach --  2.3.3 6 DOF Dynamics : Lagrange Approach --  2.3.4 Translational Dynamics . --  2.4 Aerology Characteristics --  2.4.1 Wind Profile --  2.4.2 Down burst --  2.5 Conclusions --  3 Mission Planning --  3.1 Introduction --  3.2 Flight Planning --  3.3 Motion Planning Algorithms Review --  3.3.1 Overall Problem description --  3.3.2 Problem Types --  3.4 Planning with differential constraints --  3.4.1 Roadmap algorithm --  3.4.2 Artificial Potential Methods --  3.4.3 Sampling based trajectory planning --  3.4.4 Decoupled Trajectory Planning --  3.4.5 The Finite State Motion Model: The Maneuver Automaton --  3.4.6 Mathematical Programming --  3.4.7 Receding Horizon Control --  3.4.8 Reactive Planning --  3.4.9 Probabilistic Roadmap Methods: PRM --  3.4.10 Rapidly Expanding Random Tree (RRT) --  3.4.11 Guided Expansive Search Trees --  3.5 Planning with Uncertain Winds --  3.5.1 Receding Horizon Approach --  3.5.2 Markov Decision Process Approach --  3.5.3 Chance constrained predictive control under stochastic uncertainty --  3.6 Planning in Strong Winds --  3.7 Task Assignment --  3.8 Conclusions --  4.1 Introduction --  4.2 Trajectory Generation in Hover --  4.2.1 Trim Trajectories --  4.2.2 Under-actuation at Hover --  4.3 Lateral planning in cruising flight --  4.3.1 Lateral dynamics of the lighter than air robot --  4.3.2 Time Optimal Extremals --  4.4 Zermelo Navigation Problem --  4.4.1 Navigation equation --  4.4.2 One particular solution --  4.5 3D Trajectory design with wind --  4.5.1 Determination of the Reference Controls --  4.5.2 Accessibility and Controllability --  4.5.3 Motion Planning when wind can be neglected --  4.5.4 Determination of the Minimum Energy Trajectories --  4.5.5 Determination of Time Optimal Trajectories --  4.6 Parametric Curves --  4.6.1 Cartesian polynomials --  4.6.2 Trim Flight Paths --  4.6.3 Non Trim Flight Paths --  4.6.4 Maneuvers between two different trims --  4.6.5 Frenet -Serret Approach --  4.6.6 Pythagorean Hodograph --  4.6.7 h3 Splines --  4.7 Conclusions --  5 Control --  5.1 Introduction --  5.2 Linear Control --  5.2.1 Linear Formulation in Cruising flight --  5.2.2 Flying and Handling Qualities --  5.2.3 Classical Linear Control --  5.2.4 Linear Robust Control --  5.3 Nonlinear Control --  5.3.1 Dynamic Inversion --  5.3.2 Trajectory Tracking in a High Constant Altitude Flight --  5.3.3 Variable Structure Robust Control --  5.3.4 Back stepping controller design --  5.3.5 Line tracking by path curvature and torsion --  5.3.6 Intelligent Control --  5.4 System Health Management --  5.4.1 Health Monitoring --  5.4.2 Diagnosis, Response to systems failure --  5.5 Conclusions --  6 General Conclusions --  7 References --  References --  A Current Projects --  A.1 Introduction --  A.2 Artic Airship --  A.2.1 Vehicle Description --  A.2.2 Weight, mass distribution and balance --  A.2.3 Modeling and identification --  A.2.4 Aerodynamics --  A.2.5 Localization and positioning --  A.2.6 Navigation and Path Planner --  A.2.7 Feeding the path planner with realistic wind information --  A.2.8 Data processing and transmission --  A.2.9 Airship Piloting and Response to wind disturbances --  A.2.10 Loading and unloading lifts --  A.2.11 Diagnosis, Response to systems failure --  A.2.12 Flight dynamics simulator --  A.2.13 Small scale delta-wing quad-rotor airship --  A.2.14 Ground handling --  A.3 Bridge Monitoring --  A.4 Monitoring of high voltage power networks --  A.4.1 Current market for inspection of electrical networks --  A.4.2 Project Goals --  A.5 FAA Recommendations --  A.6 Indoor Lighter Than Air Robot : A Differential Geometry Modeling Approach --  Index.