Margaret Hansen — accepted AI-conference papers

2026

Resource Mapping with a Mobile Exploration Robot Using Spectral Mixture Ergodic Search

Margaret Hansen, Ananya Rao, Abigail Breitfeld, David Wettergreen

ICRA 2026poster

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 …

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2023

Range-based GP Maps: Local Surface Mapping for Mobile Robots using Gaussian Process Regression in Range Space

Margaret Hansen, David Wettergreen

IROS 2023poster

This work introduces range-based GP maps, which directly represent terrain by modeling the range from a LiDAR sensor as a Gaussian process (GP) in spherical space. Such a model aligns the predicted uncertainty from the GP regression with the uncertainty in the underlying sensor observations. Experim…

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