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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)

—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)

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)

— In recent years, the numbers of life-size hu-manoids 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 unstruc-tured environments can be solved utilizing a given black box walking… (More)