6 papers
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…
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…