Path Planning For Autonomous Vehicles In Difficult Unstructured Environments

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Autonomous Road Vehicle Path Planning and Tracking Control

Author : Levent Guvenc
Publisher : John Wiley & Sons
ISBN 13 : 1119747961
Total Pages : 256 pages
Book Rating : 4.1/5 (197 download)

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Book Synopsis Autonomous Road Vehicle Path Planning and Tracking Control by : Levent Guvenc

Download or read book Autonomous Road Vehicle Path Planning and Tracking Control written by Levent Guvenc and published by John Wiley & Sons. This book was released on 2021-12-06 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.

Creating Autonomous Vehicle Systems

Author : Shaoshan Liu
Publisher : Morgan & Claypool Publishers
ISBN 13 : 1681731673
Total Pages : 285 pages
Book Rating : 4.6/5 (817 download)

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Book Synopsis Creating Autonomous Vehicle Systems by : Shaoshan Liu

Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.

Autonomous Vehicle

Author : Andrzej Zak
Publisher : BoD – Books on Demand
ISBN 13 : 9535125842
Total Pages : 158 pages
Book Rating : 4.5/5 (351 download)

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Book Synopsis Autonomous Vehicle by : Andrzej Zak

Download or read book Autonomous Vehicle written by Andrzej Zak and published by BoD – Books on Demand. This book was released on 2016-09-07 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous vehicles, despite their relatively short history, have already found practical application in many areas of human activity. Such vehicles are usually replacing people in performing tasks that require long operating time and are held in inaccessible or hazardous environments. Nevertheless, autonomous robotics is probably the area that is being developed the most because of the great demand for such devices in different areas of our lives. This book is a collection of experiences shared by scientists from different parts of the world doing researches and daily exploiting autonomous systems. Giving this book in the hands of the reader, we hope that it will be a treasure trove of knowledge and inspiration for further research in the field of autonomous vehicles.

The DARPA Urban Challenge

Author : Martin Buehler
Publisher : Springer Science & Business Media
ISBN 13 : 3642039901
Total Pages : 651 pages
Book Rating : 4.6/5 (42 download)

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Book Synopsis The DARPA Urban Challenge by : Martin Buehler

Download or read book The DARPA Urban Challenge written by Martin Buehler and published by Springer Science & Business Media. This book was released on 2009-11-11 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic

Author : Mahmut Dirik
Publisher : Springer Nature
ISBN 13 : 3030692477
Total Pages : 143 pages
Book Rating : 4.0/5 (36 download)

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Book Synopsis Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic by : Mahmut Dirik

Download or read book Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic written by Mahmut Dirik and published by Springer Nature. This book was released on 2021-03-01 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book includes topics, such as: path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control. The theoretical concepts are illustrated with a developed control architecture with soft computing and artificial intelligence methods. The proposed vision-based motion control strategy involves three stages. The first stage consists of the overhead camera calibration and the configuration of the working environment. The second stage consists of a path planning strategy using several traditional path planning algorithms and proposed planning algorithm. The third stage consists of the path tracking process using previously developed Gauss and Decision Tree control approaches and the proposed Type-1 and Type-2 controllers. Two kinematic structures are utilized to acquire the input values of controllers. These are Triangle Shape-Based Controller Design, which was previously developed and Distance-Based Triangle Structure that is used for the first time in conducted experiments. Four different control algorithms, Type-1 fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and Gaussian Control have been used in overall system design. The developed system includes several modules that simplify characterizing the motion control of the robot and ensure that it maintains a safe distance without colliding with any obstacles on the way to the target. The topics of the book are extremely relevant in many areas of research, as well as in education in courses in computer science, electrical and mechanical engineering and in mathematics at the graduate and undergraduate levels.

Intelligent Transportation Related Complex Systems and Sensors

Author : Kyandoghere Kyamakya
Publisher : MDPI
ISBN 13 : 3036508481
Total Pages : 494 pages
Book Rating : 4.0/5 (365 download)

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Book Synopsis Intelligent Transportation Related Complex Systems and Sensors by : Kyandoghere Kyamakya

Download or read book Intelligent Transportation Related Complex Systems and Sensors written by Kyandoghere Kyamakya and published by MDPI. This book was released on 2021-09-01 with total page 494 pages. Available in PDF, EPUB and Kindle. Book excerpt: Building around innovative services related to different modes of transport and traffic management, intelligent transport systems (ITS) are being widely adopted worldwide to improve the efficiency and safety of the transportation system. They enable users to be better informed and make safer, more coordinated, and smarter decisions on the use of transport networks. Current ITSs are complex systems, made up of several components/sub-systems characterized by time-dependent interactions among themselves. Some examples of these transportation-related complex systems include: road traffic sensors, autonomous/automated cars, smart cities, smart sensors, virtual sensors, traffic control systems, smart roads, logistics systems, smart mobility systems, and many others that are emerging from niche areas. The efficient operation of these complex systems requires: i) efficient solutions to the issues of sensors/actuators used to capture and control the physical parameters of these systems, as well as the quality of data collected from these systems; ii) tackling complexities using simulations and analytical modelling techniques; and iii) applying optimization techniques to improve the performance of these systems.

The DARPA Urban Challenge

Author : Martin Buehler
Publisher : Springer
ISBN 13 : 364203991X
Total Pages : 651 pages
Book Rating : 4.6/5 (42 download)

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Book Synopsis The DARPA Urban Challenge by : Martin Buehler

Download or read book The DARPA Urban Challenge written by Martin Buehler and published by Springer. This book was released on 2009-11-26 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Robotics

Author : Oliver Brock
Publisher : MIT Press
ISBN 13 : 0262513099
Total Pages : 334 pages
Book Rating : 4.2/5 (625 download)

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Book Synopsis Robotics by : Oliver Brock

Download or read book Robotics written by Oliver Brock and published by MIT Press. This book was released on 2009 with total page 334 pages. Available in PDF, EPUB and Kindle. Book excerpt: State-of-the-art robotics research on such topics as manipulation, motion planning, micro-robotics, distributed systems, autonomous navigation, and mapping. Robotics: Science and Systems IV spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the fourth annual Robotics: Science and Systems conference, held in 2008 at the Swiss Federal Institute of Technology in Zurich. The papers presented cover a range of topics, including computer vision, mapping, terrain identification, distributed systems, localization, manipulation, collision avoidance, multibody dynamics, obstacle detection, microrobotic systems, pursuit-evasion, grasping and manipulation, tracking, spatial kinematics, machine learning, and sensor networks as well as such applications as autonomous driving and design of manipulators for use in functional-MRI. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.

Terrain Aided Localisation of Autonomous Vehicles in Unstructured Environments

Author : Rajmohan Madhavan
Publisher : Universal-Publishers
ISBN 13 : 1581121776
Total Pages : 227 pages
Book Rating : 4.5/5 (811 download)

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Book Synopsis Terrain Aided Localisation of Autonomous Vehicles in Unstructured Environments by : Rajmohan Madhavan

Download or read book Terrain Aided Localisation of Autonomous Vehicles in Unstructured Environments written by Rajmohan Madhavan and published by Universal-Publishers. This book was released on 2003-03-08 with total page 227 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis is concerned with the theoretical and practical development of reliable and robust localisation algorithms for autonomous land vehicles operating at high speeds in unstructured, expansive and harsh environments. Localisation is the ability of a vehicle to determine its position and orientation within an operating environment. The need for such a localisation system is motivated by the requirement of developing autonomous vehicles in applications such as mining, agriculture and cargo handling. The main drivers in these applications are for safety, efficiency and productivity. The approach taken to the localisation problem in this thesis guarantees that the safety and reliability requirements imposed by such applications are achieved. The approach also aims to minimise the engineering or modification of the environment, such as adding artificial landmarks or other infrastructure. This is a key driver in the practical implementation of a localisation algorithm. In pursuit of these objectives, this thesis makes the following principal contributions: 1. The development of an Iterative Closest Point - Extended Kalman Filter (ICP-EKF) algorithm - a map-based iconic algorithm that utilises measurements from a scanning laser rangefinder to achieve localisation. The ICP-EKF algorithm entails the development of a map-building algorithm. The main attraction of the map-based localisation algorithm is that it works directly on sensed data and thus does not require extraction and matching of features. It also explicitly takes into account the uncertainty associated with measurements and has the ability to include measurements from a variety of different sensors. 2. The development and implementation of an entropy-based metric to evaluate the information content of measurements. This metric facilitates the augmentation of landmarks to the ICP-EKF algorithm thus guaranteeing reliable and robust localisation. 3. The development and adaptation of a view-invariant Curvature Scale Space (CSS) landmark extraction algorithm. The algorithm is sufficiently robust to sensor noise and is capable of reliably detecting and extracting landmarks that are naturally present in the environment from laser rangefinder scans. 4. The integration of the information metric and the CSS and ICP-EKF algorithms to arrive at a unified localisation framework that uses measurements from both artificial and natural landmarks, combined with dead-reckoning sensors, to deliver reliable vehicle position estimates. The localisation framework developed is sufficiently generic to be used on a variety of other autonomous land vehicle systems. This is demonstrated by its implementation using field data collected from three different trials on three different vehicles. The first trial was carried out on a four-wheel drive vehicle in an underground mine tunnel. The second trial was conducted on a Load-Haul-Dump (LHD) truck in a test tunnel constructed to emulate an underground mine. The estimates of the proposed localisation algorithms are compared to the ground truth provided by an artificial landmark-based localisation algorithm that uses bearing measurements from a laser. To demonstrate the feasibility and reliability of both the natural landmark extraction and localisation algorithms, these are also implemented on a utility vehicle in an outdoor area within the University's campus. The results demonstrate the robustness of the proposed localisation algorithms in producing reliable and accurate position estimates for autonomous vehicles operating in a variety of unstructured domains.

Intelligent Autonomous Systems 18

Author : Soon-Geul Lee
Publisher : Springer Nature
ISBN 13 : 3031449819
Total Pages : 461 pages
Book Rating : 4.0/5 (314 download)

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Book Synopsis Intelligent Autonomous Systems 18 by : Soon-Geul Lee

Download or read book Intelligent Autonomous Systems 18 written by Soon-Geul Lee and published by Springer Nature. This book was released on with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Methods and Applications for Modeling and Simulation of Complex Systems

Author : Wenhui Fan
Publisher : Springer Nature
ISBN 13 : 9811991952
Total Pages : 639 pages
Book Rating : 4.8/5 (119 download)

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Book Synopsis Methods and Applications for Modeling and Simulation of Complex Systems by : Wenhui Fan

Download or read book Methods and Applications for Modeling and Simulation of Complex Systems written by Wenhui Fan and published by Springer Nature. This book was released on 2022-12-23 with total page 639 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set CCIS 1712 and 1713 constitutes the proceedings of the 21st Asian Simulation Conference, AsiaSim 2022, which took place in Changsha, China, in January 2023. Due to the Covid pandemic AsiaSim 2022 has been postponed to January 2023. The 97 papers presented in the proceedings were carefully reviewed and selected from 218 submissions. The contributions were organized in topical sections as follows: Modeling theory and methodology; Continuous system/discrete event system/hybrid system/intelligent system modeling and simulation; Complex systems and open, complex and giant systems modeling and simulation; Integrated natural environment and virtual reality environment modeling and simulation; Networked Modeling and Simulation; Flight simulation, simulator, simulation support environment, simulation standard and simulation system construction; High performance computing, parallel computing, pervasive computing, embedded computing and simulation; CAD/CAE/CAM/CIMS/VP/VM/VR/SBA; Big data challenges and requirements for simulation and knowledge services of big data ecosystem; Artificial intelligence for simulation; Application of modeling/simulation in science/engineering/society/economy /management/energy/transportation/life/biology/medicine etc; Application of modeling/simulation in energy saving/emission reduction, public safety, disaster prevention/mitigation; Modeling/simulation applications in the military field; Modeling/simulation applications in education and training; Modeling/simulation applications in entertainment and sports.

Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023)

Author : Yi Qu
Publisher : Springer Nature
ISBN 13 : 9819711037
Total Pages : 501 pages
Book Rating : 4.8/5 (197 download)

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Book Synopsis Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) by : Yi Qu

Download or read book Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) written by Yi Qu and published by Springer Nature. This book was released on with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Algorithmic Foundation of Robotics VII

Author : Srinivas Akella
Publisher : Springer Science & Business Media
ISBN 13 : 3540684042
Total Pages : 526 pages
Book Rating : 4.5/5 (46 download)

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Book Synopsis Algorithmic Foundation of Robotics VII by : Srinivas Akella

Download or read book Algorithmic Foundation of Robotics VII written by Srinivas Akella and published by Springer Science & Business Media. This book was released on 2008-07-10 with total page 526 pages. Available in PDF, EPUB and Kindle. Book excerpt: Algorithms are a fundamental component of robotic systems: they control or reason about motion and perception in the physical world. They receive input from noisy sensors, consider geometric and physical constraints, and operate on the world through imprecise actuators. The design and analysis of robot algorithms therefore raises a unique combination of questions in control theory, computational and differential geometry, and computer science. This book contains the proceedings from the 2006 Workshop on the Algorithmic Foundations of Robotics. This biannual workshop is a highly selective meeting of leading researchers in the field of algorithmic issues related to robotics. The 32 papers in this book span a wide variety of topics: from fundamental motion planning algorithms to applications in medicine and biology, but they have in common a foundation in the algorithmic problems of robotic systems.

Robot 2023: Sixth Iberian Robotics Conference

Author : Lino Marques
Publisher : Springer Nature
ISBN 13 : 303158676X
Total Pages : 576 pages
Book Rating : 4.0/5 (315 download)

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Book Synopsis Robot 2023: Sixth Iberian Robotics Conference by : Lino Marques

Download or read book Robot 2023: Sixth Iberian Robotics Conference written by Lino Marques and published by Springer Nature. This book was released on with total page 576 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Intelligent Robotics and Applications

Author : Honghai Liu
Publisher : Springer Science & Business Media
ISBN 13 : 3642165869
Total Pages : 785 pages
Book Rating : 4.6/5 (421 download)

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Book Synopsis Intelligent Robotics and Applications by : Honghai Liu

Download or read book Intelligent Robotics and Applications written by Honghai Liu and published by Springer Science & Business Media. This book was released on 2010-10-21 with total page 785 pages. Available in PDF, EPUB and Kindle. Book excerpt: The market demand for skills, knowledge and adaptability have positioned robotics to be an important field in both engineering and science. One of the most highly visible applications of robotics has been the robotic automation of many industrial tasks in factories. In the future, a new era will come in which we will see a greater success for robotics in non-industrial environments. In order to anticipate a wider deployment of intelligent and autonomous robots for tasks such as manufacturing, healthcare, ent- tainment, search and rescue, surveillance, exploration, and security missions, it is essential to push the frontier of robotics into a new dimension, one in which motion and intelligence play equally important roles. The 2010 International Conference on Intelligent Robotics and Applications (ICIRA 2010) was held in Shanghai, China, November 10–12, 2010. The theme of the c- ference was “Robotics Harmonizing Life,” a theme that reflects the ever-growing interest in research, development and applications in the dynamic and exciting areas of intelligent robotics. These volumes of Springer’s Lecture Notes in Artificial Intel- gence and Lecture Notes in Computer Science contain 140 high-quality papers, which were selected at least for the papers in general sessions, with a 62% acceptance rate Traditionally, ICIRA 2010 holds a series of plenary talks, and we were fortunate to have two such keynote speakers who shared their expertise with us in diverse topic areas spanning the rang of intelligent robotics and application activities.

Handbook of Research of Internet of Things and Cyber-Physical Systems

Author : Amit Kumar Tyagi
Publisher : CRC Press
ISBN 13 : 1000565343
Total Pages : 681 pages
Book Rating : 4.0/5 (5 download)

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Book Synopsis Handbook of Research of Internet of Things and Cyber-Physical Systems by : Amit Kumar Tyagi

Download or read book Handbook of Research of Internet of Things and Cyber-Physical Systems written by Amit Kumar Tyagi and published by CRC Press. This book was released on 2022-06-08 with total page 681 pages. Available in PDF, EPUB and Kindle. Book excerpt: This new volume discusses how integrating IoT devices and cyber-physical systems can help society by providing multiple efficient and affordable services to users. It covers the various applications of IoT-based cyber-physical systems, such as satellite imaging in relation to climate change, industrial control systems, e-healthcare applications, security uses, automotive and traffic monitoring and control, urban smart city planning, and more. The authors also outline the methods, tools, and algorithms for IoT-based cyber-physical systems and explore the integration of machine learning, blockchain, and Internet of Things-based cloud applications. With the continuous emerging new technologies and trends in IoT technology and CPS, this volume will be a helpful resource for scientists, researchers, industry professionals, faculty and students, and others who wish to keep abreast of new developments and new challenges for sustainable development in Industry 4.0.

Intelligent Autonomous Vehicles

Author : International Federation of Automatic Control
Publisher : Pergamon
ISBN 13 :
Total Pages : 546 pages
Book Rating : 4.F/5 ( download)

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Book Synopsis Intelligent Autonomous Vehicles by : International Federation of Automatic Control

Download or read book Intelligent Autonomous Vehicles written by International Federation of Automatic Control and published by Pergamon. This book was released on 1993-09-06 with total page 546 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is an increasing range of applications in which a robot has to operate in large unstructured and uncertain environments - including military cross country missions, fire fighting, construction, nuclear plant inspections, inspecting and repairing subsea structures, assembling space stations, as well as in intelligent automobiles. Uncertainty dominates the problem domain for intelligent autonomous vehicles (IAVs) through sensing the environment and vehicle state, interpreting the data, assessing the situation, adapting to changes in the environment or tasking, replanning, navigation and piloting. IFAC, recognising the industrial, technical and economic significance of IAV research, established an International Working Party to promote research and dissemination of results in IAV systems. The IAV-93 Southampton Workshop and these resulting proceedings exemplify the vitality and significant progress made by leading IAV researchers worldwide.