Approximate Simulation Relations for Hybrid Systems
Discrete Event Dynamic Systems
Robotics and Autonomous Systems
Temporal logic motion planning for dynamic robots
Automatica (Journal of IFAC)
International Journal of Robotics Research
Robot Navigation in Multi-terrain Outdoor Environments
International Journal of Robotics Research
Flow-through policies for hybrid controller synthesis applied to fully actuated systems
IEEE Transactions on Robotics
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
Journal of Intelligent and Robotic Systems
Global vector field computation for feedback motion planning
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Synthesis of output feedback control for motion planning based on LTL specifications
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Hierarchical synthesis of hybrid controllers from temporal logic specifications
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Automatic deployment of distributed teams of robots from temporal logic motion specifications
IEEE Transactions on Robotics
Integrating planning and control for single-bodied wheeled mobile robots
Autonomous Robots
Optimal path planning for surveillance with temporal-logic constraints*
International Journal of Robotics Research
A fully automated framework for control of linear systems from LTL specifications
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
Reachability analysis of multi-affine systems
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
Trajectory planning for a car-like robot by environment abstraction
Robotics and Autonomous Systems
A distributed protocol for motion coordination in free-range vehicular systems
Automatica (Journal of IFAC)
Integrated motion planning and control for graceful balancing mobile robots
International Journal of Robotics Research
An integrated robust probing motion planning and control scheme: A tube-based MPC approach
Robotics and Autonomous Systems
LTL receding horizon control for finite deterministic systems
Automatica (Journal of IFAC)
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In this paper, we present a computational framework for automatic generation of provably correct control laws for planar robots in polygonal environments. Using polygon triangulation and discrete abstractions, we map continuous motion planning and control problems, specified in terms of triangles, to computationally inexpensive problems on finite-state-transition systems. In this framework, discrete planning algorithms in complex environments can be seamlessly linked to automatic generation of feedback control laws for robots with underactuation constraints and control bounds. We focus on fully actuated kinematic robots with velocity bounds and (underactuated) unicycles with forward and turning speed bounds.