TY - CHAP
T1 - Manipulating ergodic bodies through gentle guidance
AU - Bobadilla, Leonardo
AU - Gossman, Katrina
AU - Lavalle, Steven M.
PY - 2012
Y1 - 2012
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 -