3 papers
cs.RO2026
Safe and Fuel-Efficient Motion Planning for Lunar Propulsive Drones
Elena Wittemyer, Graco Gao
Propulsive drones are a promising new technology for generating high-resolution terrain models of the Moon. In future lunar missions, propulsive drones will complete a series of ho…
cs.RO2025
Multi-Agent Ergodic Exploration under Smoke-Based, Time-Varying Sensor Visibility Constraints
Elena Wittemyer, Ananya Rao, Ian Abraham +1
In this work, we consider the problem of multi-agent informative path planning (IPP) for robots whose sensor visibility continuously changes as a consequence of a time-varying natu…
cs.RO2023
Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers
Elena Wittemyer, Ian Abraham
We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes comple…