Preliminaries

This chapter provides an overview of the fundamental concepts and system components required to understand the subsequent technical details of the proposed system.

The reader is assumed to have a basic familiarity with the domain, as it is not feasible to cover all topics in depth within this chapter. Instead, we present concise discussions of key concepts to establish the necessary background and ensure clarity in later sections.

This chapter is organized into nine sections, which can be broadly categorized into five functional layers:

1. Sections 1–3: Foundation Layer

2. Sections 4–5: Perception Layer

3. Sections 6–7: Control and Actuation

4. Section 8: Communication Layer

5. Section 9: Safety and Failsafe Mechanisms