Localization and Stabilization in 3D for Embedded Robotic Systems

The contribution of the control system in altering human living standards is enormous and has changed the course of human history. The applications are visible across disciplines, technologies, and domains that affect the continuous transformation of the planet and its beings. Human life has significantly changed since the invention of steam engines fueling the industrial revolution. From the design of centrifugal governors in steam engines (though James Clerk Maxwell explained the control theory behind the governors later in 1868 [1]) to the application of modern control systems in the areas of robotics or information theory, the contribution of feedback control systems are immense. With the advent of computers and the accessibility of computational power to the masses, the grip of control systems is more ubiquitous in daily life. Robotics is a significant area that extensively uses feedback and autonomous control theory in application. Now, almost every field has the signature of robotics and auto- matic feedback control: be it agriculture, manufacturing, automated warehouses, medical sciences, defense, transportation, home security and entertainment, underwater explo- rations, interplanetary expeditions, or space research. With the dawn of autonomous cars [2], a wide variety of research is happening, encompassing the application of robotics in mobility solutions and allied fields. The research incorporates autonomous navigation or swarm aggregations of autonomous vehicles for applications in multiple domains and environments. Examples include Ground robots used for mobility or in automated ware- houses [3]. Modest adoption of autonomous navigation can also be seen in the park assist solutions [4] provided by different vehicle manufacturers.