4 papers · 1 filter
Multi-Robot Allocation for Information Gathering in Non-Uniform Spatiotemporal Environments
Kaleb Ben Naveed, Haejoon Lee, Dimitra Panagou
Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments…
Adaptive Ergodic Search with Energy-Aware Scheduling for Persistent Multi-Robot Missions
Kaleb Ben Naveed, Devansh R. Agrawal, Rahul Kumar +1
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve…
Enabling Safety for Aerial Robots: Planning and Control Architectures
Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson +6
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspecti…
Eclares: Energy-Aware Clarity-Driven Ergodic Search
Kaleb Ben Naveed, Devansh Agrawal, Christopher Vermillion +1
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 cap…