Motion planning under bounded uncertainty using ensemble control

Aaron Becker, Timothy Bretl

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


This paper considers the problem of motion planning for a nonholonomic unicycle despite uncertainty that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that the position of this ensemble is controllable, and derive motion planning algorithms to steer this position between a given start and goal. We apply our work to a differential-drive robot with unknown but bounded wheel radius, and validate our approach with hardware experiments.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems VI
EditorsHugh Durrant-Whyte, Yoky Matsuoka, Jose Neira
PublisherMIT Press Journals
Number of pages8
ISBN (Print)9780262516815
StatePublished - 2011
EventInternational Conference on Robotics Science and Systems, RSS 2010 - Zaragoza, Spain
Duration: Jun 27 2010Jun 30 2010

Publication series

NameRobotics: Science and Systems
ISSN (Electronic)2330-765X


OtherInternational Conference on Robotics Science and Systems, RSS 2010

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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