Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2017.2654542
Abstract: Current methods to estimate object shape—using either vision or touch—generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary contact sensor. The measurement model is… read more here.
Keywords: exploration using; shape estimation; ergodic exploration; shape ... See more keywords
Ergodic Exploration Using Tensor Train: Applications in Insertion Tasks
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2021.3087317
Abstract: In robotics, ergodic control extends the tracking principle by specifying a probability distribution over an area to cover instead of a trajectory to track. The original problem is formulated as a spectral multiscale coverage problem,… read more here.
Keywords: robotics; tensor; ergodic exploration; exploration ... See more keywords