FCMP 2013 - 2nd Workshop on Formal Composition of Motion Primitives

In robotics and control, achieving singular behaviors (or motion primitives) in systems has been very well studied in the controls community, with a wide range of methods from nonlinear control to verification to discrete abstractions. Yet combining these behaviors to achieve more complex actions, i.e., composing motion primitives, still remain largely a challenging and open problem, with very few coherent formal structures or methods available. The objective of this workshop would be to explore methods for combining motion primitives in complex systems in a formal and provably correct fashion. The workshop will cover both theory, e.g., (composition of) motion primitives, funnels, description languages, bisimulations, verification, synthesis, hybrid zero dynamics, with applications to robot motion planning, bipedal walking and running. Therefore, this workshop will focus on both foundational theory and milestone applications in order to present a coherent set of formal methods, challenges, and open problems.
Organizers
Aaron D. Ames, Texas A&M University
Jessy Grizzle, University of Michigan
Necmiye Ozay, California Institute of Technology