Ergodic Exploration

Ergodic exploration focuses on developing algorithms that enable robots to efficiently and completely explore an environment, ensuring that all areas receive proportional attention based on their informational value. Current research emphasizes computationally efficient methods, such as kernel-based approaches and bi-level optimization, to overcome the computational challenges associated with high-dimensional spaces and complex robotic systems. This work also incorporates safety and robustness considerations, using techniques like reachability analysis and control barrier functions to guarantee collision-free exploration even in cluttered or uncertain environments. The resulting advancements have significant implications for autonomous robotics in diverse fields, including planetary exploration, search and rescue, and industrial automation.