Journal of the ACM (JACM)
Necessary and sufficient conditions for reachability on a simplex
Automatica (Journal of IFAC)
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
Reactive footstep planning for a planar spring mass hopper
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Integrating planning and control for single-bodied wheeled mobile robots
Autonomous Robots
Hybrid Potential Field Based Control of Differential Drive Mobile Robots
Journal of Intelligent and Robotic Systems
A distributed protocol for motion coordination in free-range vehicular systems
Automatica (Journal of IFAC)
Motion planning and reactive control on learnt skill manifolds
International Journal of Robotics Research
A hierarchical approach for primitive-based motion planning and control of autonomous vehicles
Robotics and Autonomous Systems
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This paper addresses the coupled navigation and control problem for fully actuated dynamical systems operating in cluttered environments. The proposed method composes local feedback control policies to address the global problem in a formally correct manner. Our contribution extends the method of sequential composition to a new class of flow-through policies, which are defined for an idealized point robot that is subject to bounds on velocity and acceleration. These policies, which are defined over convex polytopes, express natural behaviors and guarantee safe trajectories while respecting system constraints. This paper presents a constructive technique for building hybrid control systems with guaranteed transitions and stability properties. Simulation results demonstrate policy-based decision making for various initial conditions.