A Model and Formal Analysis of Braitenberg Vehicles 2 and 3

Ignacio Rano

doi:10.1109/ICRA.2012.6224583

A Model and Formal Analysis of Braitenberg Vehicles 2 and 3

Ignacio Rano

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

264 Downloads (Pure)

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.

Original language	English
Title of host publication	Unknown Host Publication
Publisher	IEEE
Pages	910-915
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2012.6224583
Publication status	Published - 18 May 2012
Event	IEEE International Conference on Robotics and Automation - Saint Paul, MN Duration: 18 May 2012 → …

Conference

Conference	IEEE International Conference on Robotics and Automation
Period	18/05/12 → …

Access to Document

10.1109/ICRA.2012.6224583

Rano11model-finalFinal published version, 463 KB

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