• Constructing and Implementing Motion Programs for Robotic Marionettes 

      Martin, Patrick; Johnson, Elliot; Murphey, Todd D.; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-04)
      This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs ...