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— This paper develops a method of composing simple control policies, applicable over a limited region in a dynamical system's free space, such that the resulting composition completely solves the navigation and control problem for the given system operating in a constrained environment. The resulting control policy deployment induces a global control policy(More)
We present a method for defining a hybrid control system capable of simultaneously addressing the global navigation and control problem for a convex-bodied wheeled mobile robot navigating amongst obstacles. The method uses parameterized continuous local feedback control policies that ensure safe operation over local regions of the free configuration space;(More)
— What would it be like if we could give our robot high level commands and it would automatically execute them in a verifiably correct fashion in dynamically changing environments? This work demonstrates a method for generating continuous feedback control inputs that satisfy high-level specifications. Using a collection of continuous local feedback control(More)
A major goal in robotics is to develop machines that perform useful tasks with minimal supervision. Instead of requiring each small detail to be specified , we would like to describe the task at a high level and have the system autonomously execute in a manner that satisfies that desired task. While the single-robot case is difficult enough, moving to a(More)
As part of an ongoing collaborative effort with the Ford Motor Company, our research aims to develop practical and efficient trajectory planning tools for automotive painting. Not only must the paint applicator pass over all points on the surface, it must do so in a manner that ensures the uniformity of the coating thickness. This is non-trivial given the(More)
—This research is focused on developing trajectory planning tools for the automotive painting industry. The geometric complexity of automotive surfaces and the complexity of the spray patterns produced by modern paint atomizers combine to make this a challenging and interesting problem. This paper documents our efforts to develop computationally tractable(More)
— In this paper, we develop a generic class of control policies that respect nonholonomic constraints and are provably safe with respect to obstacles for a convex-bodied mobile robot. We instantiate this class of policies over local regions of configuration space, and compose the resulting local policies to address the global navigation and control problem(More)