Related papers: Ergodic Coverage In Constrained Environments Using…
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of time which is proportional to its probability information…
In this article, we present a feedback control method for tactile coverage tasks, such as cleaning or surface inspection. These tasks are challenging to plan due to complex continuous physical interactions. In these tasks, the coverage…
Ergodic exploration has spawned a lot of interest in mobile robotics due to its ability to design time trajectories that match desired spatial coverage statistics. However, current ergodic approaches are for continuous spaces, which require…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
This paper presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consists of matching the time-averaged statistics of a robot…
Continuous exploration without interruption is important in scenarios such as search and rescue and precision agriculture, where consistent presence is needed to detect events over large areas. Ergodic search already derives continuous…
Planning informative trajectories while considering the spatial distribution of the information over the environment, as well as constraints such as the robot's limited battery capacity, makes the long-time horizon persistent coverage…
We develop an algorithm to explore an environment to generate a measurement model for use in future localization tasks. Ergodic exploration with respect to the likelihood of a particular class of measurement (e.g., a contact detection…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
This paper presents a novel partial differential equation (PDE)-based framework for controlling an ensemble of robots, which have limited sensing and actuation capabilities and exhibit stochastic behaviors, to perform mapping and coverage…
In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the…
In this study, an ergodic environment exploration problem is introduced for a centralized multi-agent system. Given the reference distribution represented by the Mixture of Gaussian (MoG), the ergodicity is achieved when the time-averaged…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear…
We consider a search problem where a robot has one or more types of sensors, each suited to detecting different types of targets or target information. Often, information in the form of a distribution of possible target locations, or…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…