Technical Reports (CIS)

Document Type

Technical Report

Subject Area


Date of this Version

January 2004


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-04-13.


In this paper, we present a computational framework for automatic generation of provably correct control laws for planar robots in polygonal environments. Using polygon triangulation and discrete abstractions, we map continuous motion planning and control problems specified in terms of triangles to computationally inexpensive finite state transition systems. In this framework, powerful discrete planning algorithms in complex environments can be seamlessly linked to automatic generation of feedback control laws for robots with under-actuation constraints and control bounds. We focus on fully-actuated kinematic robots with velocity bounds and (under-actuated) unicycles with forward and turning speed bounds.


Motion planning, control, triangulation, discrete abstraction, hybrid system, bisimulation



Date Posted: 22 June 2005