Controlling wild bodies using linear temporal logic

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

Resultado de la investigación: Libro / Capitulo del libro / InformeLibros de Investigaciónrevisión exhaustiva

10 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaRobotics
Subtítulo de la publicación alojadaScience and Systems VII
EditoresHugh Durrant-Whyte, Nicholas Roy, Pieter Abbeel
EditorialMIT Press Journals
Páginas17-24
Número de páginas8
ISBN (versión impresa)9780262517799
DOI
EstadoPublicada - 2012
Publicado de forma externa
EventoInternational Conference on Robotics Science and Systems, RSS 2011 - Los Angeles, Estados Unidos
Duración: 27 jun. 20111 jul. 2011

Serie de la publicación

NombreRobotics: Science and Systems
Volumen7
ISSN (versión digital)2330-765X

Conferencia

ConferenciaInternational Conference on Robotics Science and Systems, RSS 2011
País/TerritorioEstados Unidos
CiudadLos Angeles
Período27/06/111/07/11

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