{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/81100"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/81100","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Smooth Feedback Planning","abstract":"Algorithms, theoretical analysis, and practical examples (as applicable) are presented for three main problems, and several variations thereon. First, the problem of a fully actuated point robot moving in a piecewise linear environment of arbitary dimension is addressed. Second, fully actuated robots with bodies are considered---both practical problems like planar disc or polygonal robots, and the fully general case of a semi-algebraic robot moving amidst semi-algebraic obstacles (the generalized piano mover's problem). Third, feedback plans for point robots with simple nonholonomic constraints, such as unicycles and car-like robots, are described. Each of these problems is addressed using variations on a unified approach. First, the environment is decomposed into simple (often convex) cells; second, local vector fields are created and combined together to create a solution to the global navigation problem. In addition to standard navigation problems, approaches to trajectory tracking and multiple robot coordination are described to illustrate the flexibility of the approach.","abstract_html":"Algorithms, theoretical analysis, and practical examples (as applicable) are presented for three main problems, and several variations thereon. First, the problem of a fully actuated point robot moving in a piecewise linear environment of arbitary dimension is addressed. Second, fully actuated robots with bodies are considered---both practical problems like planar disc or polygonal robots, and the fully general case of a semi-algebraic robot moving amidst semi-algebraic obstacles (the generalized piano mover's problem). Third, feedback plans for point robots with simple nonholonomic constraints, such as unicycles and car-like robots, are described. Each of these problems is addressed using variations on a unified approach. First, the environment is decomposed into simple (often convex) cells; second, local vector fields are created and combined together to create a solution to the global navigation problem. In addition to standard navigation problems, approaches to trajectory tracking and multiple robot coordination are described to illustrate the flexibility of the approach.","abstract_has_math":false,"creators":["Lindemann, Stephen R."],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Electrical and Computer Engineering","degree_department":null,"school":null,"contributors":["Spong, Mark W."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-25T20:09:35Z","date_published":"2015-09-25T20:09:35Z","updated_at":"2026-07-22T22:26:15Z","subjects":["Engineering, Robotics"],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(MiAaPQ)AAI3337848"],"render_values":[{"text":"(MiAaPQ)AAI3337848","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/81100","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Spong, Mark W."]},{"key":"dc:creator","label":"Author","values":["Lindemann, Stephen R."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-25T20:09:35Z","10000-01-01","2008"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical and Computer Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Robotics"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/81100","(MiAaPQ)AAI3337848"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Algorithms, theoretical analysis, and practical examples (as applicable) are presented for three main problems, and several variations thereon. 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