This work considers a hybrid motion planning/control problem termed controlled and constrained coverage -- i.e. the precise regulation of a mechanism's work space effects through planning, sensor observations, and long-term process monitoring to achieve the controlled execution of area-covering tasks. Typical work space effects include the sensitivity pattern of a detector used for search tasks, the reach of a lawn mower's cutting tool, but paint application in the automotive industry motivates this effort. The two basic intellectual foci of this work are understanding how coverage tasks can be accomplished while ensuring the precise control of process variables and the development of coverage path planning tools which will make it possible to adjust process variables necessitating complete replanning. These results will enable paint application specialists (or anyone involved in surface coating/inspection tasks) to efficiently program trajectories that satisfy performance constraints while reducing cycle time, and improving efficiency. The Principle Investigators will be working closely with researchers within Ford, including members of Ford's Scientific Research Labs, their Advanced Manufacturing Technology division, and Global Paint Engineering, to ensure practical utility and applicability of the research.
