Controlling wild bodies using linear temporal logic

Leonardo Bobadilla, Oscar Sanchez, Justin Czarnowski, Katrina Gossman, Steven M. LaValle

Research output: Book / Book Chapter / ReportResearch Bookspeer-review

10 Scopus citations


There is substantial interest in controlling a group of bodies from specifications of tasks given in a high-level, human-like language. This paper proposes a methodology that creates low-level hybrid controllers that guarantee that a group of bodies execute a high-level specified task without dynamical system modeling, precise state estimation or state feedback. We do this by exploiting the wild motions of very simple bodies in an environment connected by gates which serve as the system inputs, as opposed to motors on the bodies.We present experiments using inexpensive hardware demonstrating the practical feasibility of our approach to solving tasks such as navigation, patrolling, and coverage.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationScience and Systems VII
EditorsHugh Durrant-Whyte, Nicholas Roy, Pieter Abbeel
PublisherMIT Press Journals
Number of pages8
ISBN (Print)9780262517799
StatePublished - 2012
Externally publishedYes
EventInternational Conference on Robotics Science and Systems, RSS 2011 - Los Angeles, United States
Duration: 27 Jun 20111 Jul 2011

Publication series

NameRobotics: Science and Systems
ISSN (Electronic)2330-765X


ConferenceInternational Conference on Robotics Science and Systems, RSS 2011
Country/TerritoryUnited States
CityLos Angeles


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