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Formulation of control objectives is a key issue in automatic control systems design. Although at first sight the desired goal (control objective) of a control system seems to be a trivial and obvious matter, for effectiveness of some high level robotic tasks, unusual exotic control objectives may be required. This paper presents a review of some exotic control objectives useful in robotics, such as velocity field control objective and range control objective. The paper also proposes a novel confinement control objective. The usefulness of these exotic control objectives may appear in safe robot-human interaction and self-protection of robots against collisions.
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Kelly et al. (2018) studied this question.
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