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A Model and Formal Analysis of Braitenberg Vehicles 2 and 3

Rano, Ignacio (2012) A Model and Formal Analysis of Braitenberg Vehicles 2 and 3. In: IEEE International Conference on Robotics and Automation, Saint Paul, MN. IEEE. 6 pp. [Conference contribution]

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DOI: 10.1109/ICRA.2012.6224583

Abstract

Braitenberg vehicles have attracted many students to work in robotics because of their apparent simplicity as control mechanisms. However, the lack of a formal theory supporting them entails they are used by the robotic community only as a teaching tool. This paper presents the first joint theoretical and comprehensive analysis of the behaviour of Braitenberg vehicles 2 and 3. The presented mathematical model of the vehicles is a non-linear dynamical system which is analysed for general conditions. This work paves the way to a proper and complete understanding of Braitenberg vehicles through a new theoretical framework. This framework allows the exploration of new applications and shows the need of stimulus analysis to drive its behaviour.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
ID Code:27299
Deposited By: Dr Ignacio Rano
Deposited On:30 Sep 2013 08:58
Last Modified:09 Dec 2015 11:15

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