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In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
Robots with the ability to balance time against the thoroughness of search have the potential to provide time-critical assistance in applications such as search and rescue. Current advances in ergodic coverage-based search methods have…
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…
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.…
Robotic search and rescue, exploration, and inspection require trajectory planning across a variety of domains. A popular approach to trajectory planning for these types of missions is ergodic search, which biases a trajectory to spend time…
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…
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…
In this paper, we address the problem of safe trajectory planning for autonomous search and exploration in constrained, cluttered environments. Guaranteeing safe (collision-free) trajectories is a challenging problem that has garnered…
This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny…
In this paper, we study the problem of coverage planning by a mobile robot with a limited energy budget. The objective of the robot is to cover every point in the environment while minimizing the traveled path length. The environment is…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
In this work, we consider the problem of multi-agent informative path planning (IPP) for robots whose sensor visibility continuously changes as a consequence of a time-varying natural phenomenon. We leverage ergodic trajectory optimization…
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…
We consider the problem of combining potential field and ergodic search on multi-robot systems. Traditional ergodic search algorithms use metrics for ergodicity that account for the desired distribution at different scales. Recently, a heat…
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…
The rapid development of urbanization during the past decades has significantly improved people's lives but also introduced new challenges on effective functional urban planning and transportation management. The functional regions defined…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
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…
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…
We present an autonomous exploration system for efficient coverage of unknown environments. First, a rapid environment preprocessing method is introduced to provide environmental information for subsequent exploration planning. Then, the…