TY - GEN
T1 - Stochastic modeling, control, and verification of wild bodies
AU - Gierl, Daniel Erik
AU - Bobadilla, Leonardo
AU - Sanchez, Oscar
AU - Lavalle, Steven M.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - This paper presents strategies for controlling the distribution of large numbers of minimalist robots (ones containing no sensors or computers). The strategies are implemented by varying area, speed, gate length, or gate configuration in environments composed of regions connected by gates and modelled by Continuous Time Markov chains. We demonstrate the effectiveness and practical feasibility of our strategies through physical experiments and simulation. We use Continuous Stochastic Logic to verify high level properties of our system and to evaluate the accuracy of our model. Also, we prove that our model is accurate and that our algorithms are efficient with respect to the number of regions and number of bodies.
AB - This paper presents strategies for controlling the distribution of large numbers of minimalist robots (ones containing no sensors or computers). The strategies are implemented by varying area, speed, gate length, or gate configuration in environments composed of regions connected by gates and modelled by Continuous Time Markov chains. We demonstrate the effectiveness and practical feasibility of our strategies through physical experiments and simulation. We use Continuous Stochastic Logic to verify high level properties of our system and to evaluate the accuracy of our model. Also, we prove that our model is accurate and that our algorithms are efficient with respect to the number of regions and number of bodies.
UR - http://www.scopus.com/inward/record.url?scp=84929192813&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6906909
DO - 10.1109/ICRA.2014.6906909
M3 - Libros de Investigación
AN - SCOPUS:84929192813
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 549
EP - 556
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -