Controlling Wild Bodies Using Discrete Transition Systems

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. This leads to a hybrid systems approach in which the behaviors define a discrete transition system. Tasks can even be specified using a Linear Temporal Logic (LTL) formula and are converted into a multibody implementation that satisfies the formula. 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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