2 citations · 2 across the 5 of their papers we have counts for
4 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…