Related papers: Ergodic Exploration of Distributed Information
In this paper, we introduce a new adaptive data analysis method to study trend and instantaneous frequency of nonlinear and non-stationary data. This method is inspired by the Empirical Mode Decomposition method (EMD) and the recently…
We propose a robust and efficient data-driven predictive control (eDDPC) scheme which is more sample efficient (requires less offline data) compared to existing schemes, and is also computationally efficient. This is done by leveraging an…
An informative measurement is the most efficient way to gain information about an unknown state. We present a first-principles derivation of a general-purpose dynamic programming algorithm that returns an optimal sequence of informative…
Designing learnable information-theoretic objectives for robot exploration remains challenging. Such objectives aim to guide exploration toward data that reduces uncertainty in model parameters, yet it is often unclear what information the…
Multi-mode resource-constrained project scheduling problems (MRCPSPs) are classified as NP-hard problems, in which a task has different execution modes characterized by different resource requirements. Estimation of distribution algorithm…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…
The budgeted information gathering problem - where a robot with a fixed fuel budget is required to maximize the amount of information gathered from the world - appears in practice across a wide range of applications in autonomous…
A novel Markovian network evolution model is introduced and analysed by means of information theory. It will be proved that the model, called Network Evolution Chain, is a stationary and ergodic stochastic process. Therefore, the Asymptotic…
We numerically study the two-dimensional, area preserving, web map. When the map is governed by ergodic behavior, it is, as expected, correctly described by Boltzmann-Gibbs statistics, based on the additive entropic functional $S_{BG}[p(x)]…
Identifying the origin of nonequilibrium characteristics in a generic interacting system having multiple degrees of freedom is a challenging task. In this context, information theoretic measures such as mutual information and related…
A random-walk Metropolis sampler is geometrically ergodic if its equilibrium density is super-exponentially light and satisfies a curvature condition [Stochastic Process. Appl. 85 (2000) 341-361]. Many applications, including Bayesian…
A new adopted evolutionary algorithm is presented in this paper to solve the non-smooth, non-convex and non-linear multi-area economic dispatch (MAED). MAED includes some areas which contains its own power generation and loads. By…
It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and…
We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…
In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…
Traditional Evolutionary Robotics (ER) employs evolutionary techniques to search for a single monolithic controller which can aid a robot to learn a desired task. These techniques suffer from bootstrap and deception issues when the tasks…
The mathematical definitions of distinct concepts that are needed in building an ergodicity detection algorithm are introduced in a framework. This algorithmic framework is expressed in a discrete setting in an accessible manner for broader…
This research addresses the challenge of executing multi-UAV survey missions over diverse terrains characterized by varying elevations. The approach integrates advanced two-dimensional ergodic search technique with model predictive control…
Interest in designing, manufacturing, and using autonomous robots has been rapidly growing during the most recent decade. The main motivation for this interest is the wide range of potential applications these autonomous systems can serve…