Stochastic modeling, control, and verification of wild bodies

Daniel Erik Gierl, Leonardo Bobadilla, Oscar Sanchez, Steven M Lavalle

Research output: Contribution to journalConference articlepeer-review


This paper presents strategies for controlling the distribution of large numbers of minimalist robots (ones containing no sensors or computers). The strategies are implemented by varying area, speed, gate length, or gate configuration in environments composed of regions connected by gates and modelled by Continuous Time Markov chains. We demonstrate the effectiveness and practical feasibility of our strategies through physical experiments and simulation. We use Continuous Stochastic Logic to verify high level properties of our system and to evaluate the accuracy of our model. Also, we prove that our model is accurate and that our algorithms are efficient with respect to the number of regions and number of bodies.

Original languageEnglish (US)
Article number6906909
Pages (from-to)549-556
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

ASJC Scopus subject areas

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

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