Preface; Organisation; Contents; Part I Sailboat Platforms and Applications; An Easy-To-Build, Low-Cost, High-Performance SailBot; 1 Introduction; 2 Design Criteria and Development; 3 Weight Study; 4 Performance Trade-Off Studies; 5 Sea Quester Design; 6 Hull and Deck Construction; 7 Bulb, Keel and Rudder Construction; 8 Sail and Rig Construction; 9 Conclusions; References; MaxiMOOP: A Multi-Role, Low Cost and Small Sailing Robot Platform; 1 Introduction; 2 SailTests; 3 Energy Balance; 4 Control System Design; 5 Sea Trials; 6 Future Work; References; Towing with Sailboat Robots

1 Introduction2 State Space Model; 3 Controller; 4 Test-Case; 5 Conclusion; References; Part II Power Management and Mission Planning; Power Management Strategiesfor an Autonomous Robotic Sailboat; 1 Introduction; 2 Microcontroller and Sensors; 3 Different Modes of Operation and Basic Strategiesfor Control; 4 Operating Sensors and Actuators; 4.1 Some Notes on the GPS Device; 4.2 Some Notes on the Actuators; 5 Structural Overview of the Control System; 6 Summary; References; METASail
A Tool for Planning, Supervisionand Analysis of Robotic Sailboat Missions; 1 Introduction; 2 Mission Planning

2.1 Simulation3 Mission Supervision; 4 Mission Analysis; 5 Conclusions; References; Part III Controllers and Sensors; Towards Active Course Marks for Autonomous Sailing Competitions; 1 Introduction; 2 Related Work; 3 Functional Requirements; 4 Design and Development; 5 Conclusions; References; A Real-Time Sailboat Controller Based on ChibiOS; 1 Introduction; 2 The Hardware; 3 ChibiOS/RT; 3.1 ChibiOS/RT Scheduler; 4 Software Architecture; 5 Discussion and Conclusions; References; Piezoelectric Vibrational Sensor for Sail Luffing Detetection on Robotic Sailboats

1 History and Current Technology2 The Sensor; 2.1 Piezoelectric Sensor Response; 2.2 Sensor Output; 3 Experimental Setup; 4 Results; 5 Conclusions and Future Work; References; Author Index