Trajectory optimization for continuous ergodic exploration on the motion group SE(2)

Lauren M. Miller, Todd D. Murphey

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

10 Scopus citations

Abstract

Autonomous active sensing presents the need for control of sensor motion in both position and orientation. This paper presents a method of planning continuous search trajectories over the Euclidean motion group SE(2): The method allows one to calculate an optimal search trajectory with respect to a distribution representing probable information gain over the search space. The ergodicity of a trajectory with respect to the information distribution is used to formulate an objective function for a projection-based optimal control strategy. Results from previous work on ergodic trajectory optimization are extended to consider trajectories and information densities defined on SE(2).

Original languageEnglish (US)
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4517-4522
Number of pages6
ISBN (Print)9781467357173
DOIs
StatePublished - 2013
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: Dec 10 2013Dec 13 2013

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period12/10/1312/13/13

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Trajectory optimization for continuous ergodic exploration on the motion group SE(2)'. Together they form a unique fingerprint.

Cite this