Manipulating ergodic bodies through gentle guidance

Leonardo Bobadilla; Katrina Gossman; Steven M. Lavalle

doi:10.1007/978-1-4471-2343-9_23

Manipulating ergodic bodies through gentle guidance

Leonardo Bobadilla, Katrina Gossman, Steven M. Lavalle

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

This paper proposes methods for achieving basic tasks such as navigation, patrolling, herding, and coverage by exploiting the wild motions of very simple bodies in the environment. Bodies move within regions that are connected by gates that enforce specific rules of passage. Common issues such as dynamical system modeling, precise state estimation, and state feedback are avoided. The method is demonstrated in a series of experiments that manipulate the flow of weasel balls (without the weasels) and Hexbug Nano vibrating bugs.

Original language	English (US)
Title of host publication	Robot Motion and Control 2011
Editors	Krzysztof R. Kozlowski
Pages	273-282
Number of pages	10
DOIs	https://doi.org/10.1007/978-1-4471-2343-9_23
State	Published - Feb 1 2012

Publication series

Name	Lecture Notes in Control and Information Sciences
Volume	422
ISSN (Print)	0170-8643

ASJC Scopus subject areas

Library and Information Sciences

Access to Document

10.1007/978-1-4471-2343-9_23

Fingerprint Dive into the research topics of 'Manipulating ergodic bodies through gentle guidance'. Together they form a unique fingerprint.

Cite this

Bobadilla, L., Gossman, K., & Lavalle, S. M. (2012). Manipulating ergodic bodies through gentle guidance. In K. R. Kozlowski (Ed.), Robot Motion and Control 2011 (pp. 273-282). (Lecture Notes in Control and Information Sciences; Vol. 422). https://doi.org/10.1007/978-1-4471-2343-9_23

@inbook{6ed6134307874788847763717dd0e00f,

title = "Manipulating ergodic bodies through gentle guidance",

abstract = "This paper proposes methods for achieving basic tasks such as navigation, patrolling, herding, and coverage by exploiting the wild motions of very simple bodies in the environment. Bodies move within regions that are connected by gates that enforce specific rules of passage. Common issues such as dynamical system modeling, precise state estimation, and state feedback are avoided. The method is demonstrated in a series of experiments that manipulate the flow of weasel balls (without the weasels) and Hexbug Nano vibrating bugs.",

author = "Leonardo Bobadilla and Katrina Gossman and Lavalle, {Steven M.}",

year = "2012",

month = feb,

day = "1",

doi = "10.1007/978-1-4471-2343-9_23",

language = "English (US)",

isbn = "9781447123422",

series = "Lecture Notes in Control and Information Sciences",

pages = "273--282",

editor = "Kozlowski, {Krzysztof R.}",

booktitle = "Robot Motion and Control 2011",

}

TY - CHAP

T1 - Manipulating ergodic bodies through gentle guidance

AU - Bobadilla, Leonardo

AU - Gossman, Katrina

AU - Lavalle, Steven M.

PY - 2012/2/1

Y1 - 2012/2/1

N2 - This paper proposes methods for achieving basic tasks such as navigation, patrolling, herding, and coverage by exploiting the wild motions of very simple bodies in the environment. Bodies move within regions that are connected by gates that enforce specific rules of passage. Common issues such as dynamical system modeling, precise state estimation, and state feedback are avoided. The method is demonstrated in a series of experiments that manipulate the flow of weasel balls (without the weasels) and Hexbug Nano vibrating bugs.

AB - This paper proposes methods for achieving basic tasks such as navigation, patrolling, herding, and coverage by exploiting the wild motions of very simple bodies in the environment. Bodies move within regions that are connected by gates that enforce specific rules of passage. Common issues such as dynamical system modeling, precise state estimation, and state feedback are avoided. The method is demonstrated in a series of experiments that manipulate the flow of weasel balls (without the weasels) and Hexbug Nano vibrating bugs.

UR - http://www.scopus.com/inward/record.url?scp=84856241100&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84856241100&partnerID=8YFLogxK

U2 - 10.1007/978-1-4471-2343-9_23

DO - 10.1007/978-1-4471-2343-9_23

M3 - Chapter

AN - SCOPUS:84856241100

SN - 9781447123422

T3 - Lecture Notes in Control and Information Sciences

SP - 273

EP - 282

BT - Robot Motion and Control 2011

A2 - Kozlowski, Krzysztof R.

ER -