Dayi Dong

2 accepted papers

2025

Ergodic Exploration over Meshable Surfaces

Dayi Dong, Albert Xu, Geordan Gutow, Howie Choset, Ian Abraham

ICRA 2025

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 missions is ergodic search, which biases a trajectory to spend time in parts of the exploration domain that are believed to con

Cited by 2 Source ↗Scholar ↗

2023

Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions

Cameron Lerch, Dayi Dong, Ian Abraham

ICRA 2023poster

In this paper, we address the problem of safe trajectory planning for autonomous search and exploration in constrained, cluttered environments. Guaranteeing safe (collision-free) trajectories is a challenging problem that has garnered significant due to its importance in the successful utilization o…

Cited by 19 Source ↗Scholar ↗