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Robot Motion and Control 2011 pp 273–282Cite as

Manipulating Ergodic Bodies through Gentle Guidance

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 422))

Abstract

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.

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Author information

Authors and Affiliations

  1. Department of Computer Science, University of Illinois at Urbana-Champaign, Urbana, IL, 61801, USA

    Leonardo Bobadilla, Katrina Gossman & Steven M. LaValle

Authors
  1. Leonardo Bobadilla
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  2. Katrina Gossman
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  3. Steven M. LaValle
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Corresponding author

Correspondence to Leonardo Bobadilla .

Editor information

Editors and Affiliations

  1. , Institute of Control and Systems, Poznań University of Technology, ul. Piotrowo 3a, Poznań, 60-965, Poland

    Krzysztof Kozłowski

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Bobadilla, L., Gossman, K., LaValle, S.M. (2012). Manipulating Ergodic Bodies through Gentle Guidance. In: Kozłowski, K. (eds) Robot Motion and Control 2011. Lecture Notes in Control and Information Sciences, vol 422. Springer, London. https://doi.org/10.1007/978-1-4471-2343-9_23

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  • DOI: https://doi.org/10.1007/978-1-4471-2343-9_23

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-2342-2

  • Online ISBN: 978-1-4471-2343-9

  • eBook Packages: EngineeringEngineering (R0)

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