Trajectory optimization for continuous ergodic exploration

Lauren M. Miller, Todd D. Murphey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Scopus citations

Abstract

An algorithm is presented for generating trajectories for efficient exploration that takes into account a probabilistic representation of information density over a sampling region. The problem is cast as a continuous-time trajectory optimization problem, where the objective function directly involves the relationship between the probability density functions representing the spatial distribution and the statistical representation of the time-averaged trajectory. The difference is expressed using ergodicity. It is shown that the trajectory optimization problem can be solved using descent directions that are solutions to linear quadratic optimal control problems. The proposed method generates continuous-time optimal feedback controllers, demonstrated in simulation for a nonlinear sensor model.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4196-4201
Number of pages6
ISBN (Print)9781479901777
DOIs
StatePublished - Jan 1 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Trajectory optimization for continuous ergodic exploration'. Together they form a unique fingerprint.

  • Cite this

    Miller, L. M., & Murphey, T. D. (2013). Trajectory optimization for continuous ergodic exploration. In 2013 American Control Conference, ACC 2013 (pp. 4196-4201). [6580484] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/acc.2013.6580484