David C. Conner

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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)
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)
We develop a procedure for automated trajectory generation for robotic spray painting applications. Painting requires that the spray gun deposit paint at each point on the target surface such that the variation of the resultant paint deposition is within acceptable limits; we term this the uniform coverage problem. To understand the key issues in the(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)
Stefan Kohlbrecher, Alberto Romay, Alexander Stumpf, Anant Gupta, and Oskar von Stryk Simulation, Systems Optimization and Robotics Group, CS Dept. Technische Universität Darmstadt, Hochschulstrasse 10, 64289, Darmstadt, Hesse, Germany e-mail: kohlbrecher@sim.tu-darmstadt.de, romay@sim.tu-darmstadt.de, stumpf@sim.tu-darmstadt.de, gupta@sim.tu-darmstadt.de,(More)
In this article, we have demonstrated, through the parking and leaving example, how high-level specifications containing multiple temporally dependent goals can be given to a team of realistic robots, which in turn automatically satisfy them. By switching between low-level feedback control policies and moving in a well-behaved environment, the correctness(More)
In recent years, the numbers of life-size humanoids as well as their mobility capabilities have steadily grown. Stable walking motion and control for humanoid robots are already well investigated research topics. This raises the question how navigation problems in complex and unstructured environments can be solved utilizing a given black box walking(More)
Complete automation of trajectory planning tools for material deposition/removal applications has become increasingly necessary to reduce the ldquoconcept-to-consumerrdquo timeline for rapid product introduction in industries such as the automotive industry. The work in this paper is specifically motivated by automotive spray painting. Prior developments in(More)
This paper addresses the coupled navigation and control problem for fully actuated dynamical systems operating in cluttered environments. The proposed method composes local feedback control policies to address the global problem in a formally correct manner. Our contribution extends the method of sequential composition to a new class of <i>flow-through</i>(More)