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cs.RO2025
Ergodic Exploration over Meshable Surfaces
Dayi Dong, Albert Xu, Geordan Gutow +2
Robotic search and rescue, exploration, and inspection require trajectory planning across a variety of domains. A popular approach to trajectory planning for these types of mission…
cs.RO2023
Time Optimal Ergodic Search
Dayi Dong, Henry Berger, Ian Abraham
Robots with the ability to balance time against the thoroughness of search have the potential to provide time-critical assistance in applications such as search and rescue. Current…
cs.RO2022★ 1 cited
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions
Cameron Lerch, Dayi Dong, Ian Abraham
In this paper, we address the problem of safe trajectory planning for autonomous search and exploration in constrained, cluttered environments. Guaranteeing safe (collision-free) t…