6 accepted papers
Resource mapping and prospecting has become the focus of a number of proposed planetary exploration missions, particularly to locate water ice at the lunar south pole. Mobile robots, which are employed for exploration tasks in environments that are inaccessible to humans, collect the information in …
In this work, we consider the problem of multiagent informative path planning (IPP) for robots whose sensor visibility continuously changes as a consequence of a time-varying natural phenomenon. We leverage ergodic trajectory optimization (ETO), which generates paths such that the amount of time an
We develop a coverage approach for heterogeneous agents that leverages the different sensing and motion capabilities of a team. Coverage performance is measured using ergodicity, which when optimized balances exploitation versus exploration, where areas of interest are indicated with an information
Information-based coverage directs robots to move over an area to optimize a pre-defined objective function based on some measure of information. Our prior work determined that the spectral decomposition of an information map can be used to guide a set of heterogeneous agents, each with different se…
Robotic explorers are essential tools for gathering information about regions that are inaccessible to humans. For applications like planetary exploration or search and rescue, robots use prior knowledge about the area to guide their search. Ergodic search methods find trajectories that effectively…
We consider a search problem where a robot has one or more types of sensors, each suited to detecting different types of targets or target information. Often, information in the form of a distribution of possible target locations, or locations of interest, may be available to guide the search. When…