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Discrete Abstractions for Robot Motion Planning and Control in Polygonal Environments
Departmental Papers (ESE)
  • Calin Belta, Boston University
  • Volkan Isler, University of California, Berkeley
  • George J Pappas, University of Pennsylvania
In this paper, we present a computational framework for automatic generation of provably correct control laws for planar robots in polygonal environments. Using polygon triangulation and discrete abstractions, we map continuous motion planning and control problems, specified in terms of triangles, to computationally inexpensive problems on finite-state-transition systems. In this framework, discrete planning algorithms in complex environments can be seamlessly linked to automatic generation of feedback control laws for robots with underactuation constraints and control bounds. We focus on fully actuated kinematic robots with velocity bounds and (underactuated) unicycles with forward and turning speed bounds.
Document Type
Journal Article
Date of this Version
Copyright 2005 IEEE. Reprinted from IEEE Transactions on Robotics, Volume 21, Issue 5, October 2005, pages 864-874.

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  • Bisimulation,
  • control,
  • discrete abstraction,
  • hybrid system (HS),
  • motion planning,
  • triangulation
Citation Information
Calin Belta, Volkan Isler and George J Pappas. "Discrete Abstractions for Robot Motion Planning and Control in Polygonal Environments" (2005)
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