ICRA 2012 Paper Abstract


Paper TuB310.2

Rano, Inaki (Ruhr-Universitaet-Bochum)

A Model and Formal Analysis of Braitenberg Vehicles 2 and 3.

Scheduled for presentation during the Interactive Session "Interactive Session TuB-3" (TuB310), Tuesday, May 15, 2012, 11:30−12:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on May 21, 2018

Keywords Biologically-Inspired Robots, Behavior-Based Systems, Autonomous Agents


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.



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