Discrete abstractions for robot motion planning and control in polygonal environments

Calin Belta, Volkan Isler, George J. Pappas

Research output: Contribution to journalArticlepeer-review

185 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)864-874
Number of pages11
JournalIEEE Transactions on Robotics
Issue number5
StatePublished - Oct 2005


  • Bisimulation
  • Control
  • Discrete abstraction
  • Hybrid system (HS)
  • Motion planning
  • Triangulation

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