Optimal contact decisions for ergodic exploration

Abstract

This paper presents a method of determining optimal contact transition times for a surface exploration task. A transition time optimization algorithm is developed which uses a measure of ergodicity as the objective function, requiring the time-averaged dynamics of the system to optimally approximate the spatial average of a distribution on a finite time interval. This approach is demonstrated to be effective for determining a finite number of contact transition times in a computationally efficient way. The approach is generalized to include a measure of energy loss during sampling modes. The algorithm is shown to result in solutions that are qualitatively similar to the observed behavior of human subjects performing feature localization tasks.

DOI: 10.1109/CDC.2012.6426212

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@inproceedings{Miller2012OptimalCD, title={Optimal contact decisions for ergodic exploration}, author={Lauren M. Miller and Todd D. Murphey}, booktitle={CDC}, year={2012} }