2 citations · 2 across the 5 of their papers we have counts for
8 papers · 1 filter
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…
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…
Stein Variational Uncertainty-Adaptive Model Predictive Control
Hrishikesh Sathyanarayan, Ian Abraham
We propose a Stein variational distributionally robust controller for nonlinear dynamical systems with latent parametric uncertainty. The method is an alternative to conservative w…
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…
Stein Variational Ergodic Search
Darrick Lee, Cameron Lerch, Fabio Ramos +1
Exploration requires that robots reason about numerous ways to cover a space in response to dynamically changing conditions. However, in continuous domains there are potentially in…
RAnGE: Reachability Analysis for Guaranteed Ergodicity
Henry Berger, Ian Abraham
This paper investigates performance guarantees on coverage-based ergodic exploration methods in environments containing disturbances. Ergodic exploration methods generate trajector…