RobLab: A testbed for integrated perception, planning, and control

Stephen McCrory, S. M.Mizanoor Rahman

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We present the perception, planning, and control of RobLab, a robotic adaptation of the marble maze game 'Labyrinth.' We first present a framework which is capable of autonomously solving the maze by following a planned path. This is achieved using RGB threshold filters to detect the maze walls and track the marble, an A∗ search to generate a path, and a PID controller to guide the marble along the path. A Behavior Tree is then used to extend this framework to include additional behaviors which improve the system's robustness and enable the operator to override if requested. Experimental results and the adequacy of Behavior Trees as a tool for robotic task execution are discussed. This work aims to provide a case study in prototyping high-level robot behaviors which could later be deployed to a more complex system.

Original languageEnglish (US)
Title of host publicationSoutheastCon 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9780738111315
StatePublished - Mar 10 2021
Event2021 SoutheastCon, SoutheastCon 2021 - Atlanta, United States
Duration: Mar 10 2021Mar 13 2021

Publication series

NameConference Proceedings - IEEE SOUTHEASTCON
ISSN (Print)0734-7502


Conference2021 SoutheastCon, SoutheastCon 2021
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Software
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Signal Processing


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