3 papers
cs.RO2026
Infinite-Horizon Ergodic Control via Kernel Mean Embeddings
Christian Hughes, Ian Abraham
This paper derives an infinite-horizon ergodic controller based on kernel mean embeddings for long-duration coverage tasks on general domains. While existing kernel-based ergodic c…
cs.RO2025
Search at Scale: Improving Numerical Conditioning of Ergodic Coverage Optimization for Multi-Scale Domains
Yanis Lahrach, Christian Hughes, Ian Abraham
Recent methods in ergodic coverage planning have shown promise as tools that can adapt to a wide range of geometric coverage problems with general constraints, but are highly sensi…
cs.RO2024
Ergodic Trajectory Optimization on Generalized Domains Using Maximum Mean Discrepancy
Christian Hughes, Houston Warren, Darrick Lee +2
We present a novel formulation of ergodic trajectory optimization that can be specified over general domains using kernel maximum mean discrepancy. Ergodic trajectory optimization…