Very Large Model: References

After this model, I searched for some theoretical background and found very interesting material (under-graduate and graduate levels) at the Electrical Engineering and Computer Science page from the MIT OpenCourseWare.

I realised I was using Finite-State Machines, just as M. Jourdain was speaking in prose (in Le Bourgeois Gentilhomme - The Middle Class Gentleman, Molière, Act 4, Scene 2):

MONSIEUR JOURDAIN: Par ma foi ! il y a plus de quarante ans que je dis de la prose sans que j'en susse rien, et je vous suis le plus obligé du monde de m'avoir appris cela.

MONSIEUR JOURDAIN: By my faith! For more than forty years I have been speaking prose without knowing anything about it, and I am much obliged to you for having taught me that. 

I strongly recommend this great and profusely illustrated tutorial on 6.186 Control for Mobile Robots by Christopher Batten from MIT:

• High-level control system paradigms
  • Model-Plan-Act Approach
  • Behavioral Approach
  • Finite State Machine Approach
• Low-level control loops
  • PID controller for motor velocity
  • PID controller for robot drive system

Also of interest:

• 6.270 Autonomous Robot Design Competition
• 6.827 Multithreaded Parallelism: Languages and Compilers

Thank you for sharing, MIT!

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