3 papers
cs.RO2025
Simulated Annealing for Multi-Robot Ergodic Information Acquisition Using Graph-Based Discretization
Benjamin Wong, Aaron Weber, Mohamed M. Safwat +2
One of the goals of active information acquisition using multi-robot teams is to keep the relative uncertainty in each region at the same level to maintain identical acquisition qu…
cs.RO2025
Rapidly Converging Time-Discounted Ergodicity on Graphs for Active Inspection of Confined Spaces
Benjamin Wong, Ryan H. Lee, Tyler M. Paine +2
Ergodic exploration has spawned a lot of interest in mobile robotics due to its ability to design time trajectories that match desired spatial coverage statistics. However, current…
cs.RO2024
Semi-autonomous Teleoperation using Differential Flatness of a Crane Robot for Aircraft In-Wing Inspection
Wade Marquette, Kyle Schultz, Vamsi Jonnalagadda +3
Visual inspection of confined spaces such as aircraft wings is ergonomically challenging for human mechanics. This work presents a novel crane robot that can travel the entire span…