Learn More
— 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)
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)
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)
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 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)
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)