Related papers: An Ergodic Measure for Active Learning From Equili…
This paper presents an active search trajectory synthesis technique for autonomous mobile robots with nonlinear measurements and dynamics. The presented approach uses the ergodicity of a planned trajectory with respect to an expected…
This paper develops a method for robots to integrate stability into actively seeking out informative measurements through coverage. We derive a controller using hybrid systems theory that allows us to consider safe equilibrium policies…
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…
In robotics, a common challenge in imitation learning is the mismatch between training and deployment conditions, caused, for example, by environmental changes or imperfect observation and control. When a robot follows a nominal trajectory…
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment…
Autonomous robotic search has important applications in robotics, such as the search for signs of life after a disaster. When \emph{a priori} information is available, for example in the form of a distribution, a planner can use that…
With growing access to versatile robotics, it is beneficial for end users to be able to teach robots tasks without needing to code a control policy. One possibility is to teach the robot through successful task executions. However,…
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…
This paper investigates performance guarantees on coverage-based ergodic exploration methods in environments containing disturbances. Ergodic exploration methods generate trajectories for autonomous robots such that time spent in each area…
This paper addresses the problem of trajectory planning for information gathering with a dynamic and resolution-varying sensor footprint. Ergodic planning offers a principled framework that balances exploration (visiting all areas) and…
Although a number of solutions exist for the problems of coverage, search and target localization---commonly addressed separately---whether there exists a unified strategy that addresses these objectives in a coherent manner without being…
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…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
Autonomous robotic exploration in remote and extreme environments allows scientists to model complex transport phenomena and collective behaviors described by continuously deforming flow fields. Although these environments are naturally…
This research addresses the challenge of performing search missions in dynamic environments, particularly for drifting targets whose movement is dictated by a flow field. This is accomplished through a dynamical system that integrates two…
In this work, we show existence of invariant ergodic measure for switched linear dynamical systems (SLDSs) under a norm-stability assumption of system dynamics in some unbounded subset of $\mathbb{R}^{n}$. Consequently, given a stationary…
One of the goals of active information acquisition using multi-robot teams is to keep the relative uncertainty in each region at the same level to maintain identical acquisition quality (e.g., consistent target detection) in all the…
Recently, ergodic control has been suggested as a means to guide mobile sensors for information gathering tasks. In ergodic control, a mobile sensor follows a trajectory that is ergodic with respect to some information density distribution.…
We study the evolution of distributions under the action of an ergodic dynamical system, which may be stochastic in nature. By employing tools from Koopman and transfer operator theory one can evolve any initial distribution of the state…
In search and surveillance applications in robotics, it is intuitive to spatially distribute robot trajectories with respect to the probability of locating targets in the domain. Ergodic coverage is one such approach to trajectory planning…