Controlling wild mobile robots using virtual gates and discrete transitions

Leonardo Bobadilla, Fredy Martinez, Eric Gobst, Katrina Gossman, Steven M. Lavalle

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We present an approach to controlling multiple mobile robots without requiring system identification, geometric map building, localization, or state estimation. Instead, we purposely design them to execute wild motions, which means each will strike every open set infinitely often along the boundary of any connected region in which it is placed. We then divide the environment into a discrete set of regions, with borders delineated with simple markers, such as colored tape. Using simple sensor feedback, we show that complex tasks can be solved, such as patrolling, disentanglement, and basic navigation. The method is implemented in simulation and on real robots, which for many tasks are fully distributed without any mutual communication.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Print)9781457710957
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2012 American Control Conference, ACC 2012
CityMontreal, QC

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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