Departmental Papers (ESE)

Document Type

Journal Article

Subject Area


Date of this Version

October 2005


Copyright 2005 IEEE. Reprinted from IEEE Transactions on Robotics, Volume 21, Issue 5, October 2005, pages 864-874.

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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 problems on finite-state-transition systems. In this framework, discrete planning algorithms in complex environments can be seamlessly linked to automatic generation of feedback control laws for robots with underactuation constraints and control bounds. We focus on fully actuated kinematic robots with velocity bounds and (underactuated) unicycles with forward and turning speed bounds.


Bisimulation, control, discrete abstraction, hybrid system (HS), motion planning, triangulation



Date Posted: 25 February 2006

This document has been peer reviewed.