85 citations · 281 across the 21 of their papers we have counts for
25 papers
Ergodic Control and Controlled Diffusion for Robot Learning: Review and Tutorial
Max Muchen Sun, Cem Bilaloglu, Ananya Rao +6
Diffusion learning leverages the statistical mechanism of diffusion processes for learning, reasoning, and inferring complex distributions from data. Recent advances in diffusion l…
Koopman Operators in Robot Learning
Lu Shi, Masih Haseli, Giorgos Mamakoukas +5
Koopman operator theory offers a rigorous treatment of dynamics and has been emerging as an alternative modeling and learning-based control method across various robotics sub-domai…
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…
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…
Scale-Invariant Specifications for Human-Swarm Systems
Joel Meyer, Ahalya Prabhakar, Allison Pinosky +9
We present a method for controlling a swarm using its spectral decomposition -- that is, by describing the set of trajectories of a swarm in terms of a spatial distribution through…
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…