Optimal contact decisions for ergodic exploration

Lauren M. Miller*, Todd David Murphey

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

4 Scopus citations


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.

Original languageEnglish (US)
Article number6426212
Pages (from-to)5091-5097
Number of pages7
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 2012
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States
Duration: Dec 10 2012Dec 13 2012

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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