2 citations · 2 across the 4 of their papers we have counts for
6 papers
Time-Optimal Ergodic Retrieval
Christian Sulana, Christian Hughes, Ian Abraham
Retrieval tasks are a form of search task where a robot must explore, find an object, and return with it as quickly as possible. Recent work in ergodic control has demonstrated tim…
Contact-Implicit Stein Projected ADMM for Discovery of Diverse Contact-Rich Manipulation Strategies
Hrishikesh Sathyanarayan, Christian Hughes, Ian Abraham
Contact-implicit trajectory optimization formulates contact-rich manipulation as a single constrained program; however, that single program run collapses onto one local optimum out…
Asymptotically Optimal Ergodic Coverage on Generalized Motion Fields
Christian Hughes, Yilang Liu, Yanis Lahrach +6
Autonomous robotic exploration in remote and extreme environments allows scientists to model complex transport phenomena and collective behaviors described by continuously deformin…
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…
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…
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…