https://github.com/maxmsun/rt_erg_ctrl
https://github.com/maxmsun/rt_erg_ctrl
Last synced: 8 months ago
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- Host: GitHub
- URL: https://github.com/maxmsun/rt_erg_ctrl
- Owner: MaxMSun
- Created: 2020-09-13T15:22:50.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2020-10-23T16:00:36.000Z (over 5 years ago)
- Last Synced: 2024-12-25T12:13:17.581Z (over 1 year ago)
- Language: Python
- Size: 531 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
**This repo is cloned from [https://github.com/i-abr/rt_ergodic_control](https://github.com/i-abr/rt_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
------
+ [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.
](https://arxiv.org/abs/1708.08416)
+ [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.](https://arxiv.org/abs/1709.01560)
+ [Prabhakar, Ahalya, Anastasia Mavrommati, Jarvis Schultz, and Todd Murphey. "Autonomous visual rendering using physical motion." arXiv preprint arXiv:1709.02758 (2017).](https://arxiv.org/pdf/1709.02758.pdf)
+ [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.](https://arxiv.org/abs/1806.05220)
+ [Abraham, Ian, Ahalya Prabhakar, and Todd D. Murphey. "Active area coverage from equilibrium." "Workshop on Algorithmic Foundations of Robotics" (2019).](https://arxiv.org/abs/1902.03320)
+ [Abraham, Ian, Anastasia Mavrommati, and Todd D. Murphey. "Data-Driven Measurement Models for Active Localization in Sparse Environments." "Robotics: Science and Systems" (2018)](https://arxiv.org/abs/1806.00112)
### Running base example
```python
python3 main.py
```