Manipulating ergodic bodies through gentle guidance

Leonardo Bobadilla, Katrina Gossman, Steven M. Lavalle

Research output: Chapter in Book/Report/Conference proceedingChapter


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 languageEnglish (US)
Title of host publicationRobot Motion and Control 2011
EditorsKrzysztof R. Kozlowski
Number of pages10
StatePublished - 2012

Publication series

NameLecture Notes in Control and Information Sciences
ISSN (Print)0170-8643

ASJC Scopus subject areas

  • Library and Information Sciences


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