i-abr / rt_ergodic_control

Real-Time Ergodic Control

Real-Time Ergodic Control

This repo contains a python library for the RT ergodic controller for nonlinear systems seen in the following papers.

Related Work

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• Mavrommati, Anastasia, Emmanouil Tzorakoleftherakis, Ian Abraham, and Todd D. Murphey. "Real-time area coverage and target localization using receding-horizon ergodic exploration." IEEE Transactions on Robotics 34, no. 1 (2017): 62-80.

• Abraham, Ian, Ahalya Prabhakar, Mitra JZ Hartmann, and Todd D. Murphey. "Ergodic exploration using binary sensing for nonparametric shape estimation." IEEE robotics and automation letters 2, no. 2 (2017): 827-834.

• Prabhakar, Ahalya, Anastasia Mavrommati, Jarvis Schultz, and Todd Murphey. "Autonomous visual rendering using physical motion." arXiv preprint arXiv:1709.02758 (2017).

• Abraham, Ian, and Todd D. Murphey. "Decentralized ergodic control: distribution-driven sensing and exploration for multiagent systems." IEEE Robotics and Automation Letters 3, no. 4 (2018): 2987-2994.

• Abraham, Ian, Ahalya Prabhakar, and Todd D. Murphey. "Active area coverage from equilibrium." "Workshop on Algorithmic Foundations of Robotics" (2019).

• Abraham, Ian, Anastasia Mavrommati, and Todd D. Murphey. "Data-Driven Measurement Models for Active Localization in Sparse Environments." "Robotics: Science and Systems" (2018)

Running base example

python3 main.py