Active Area Coverage from Equilibrium

TitleActive Area Coverage from Equilibrium
Publication TypeConference Paper
Year of Publication2018
AuthorsAbraham, I., A. Prabhakar, and T. D. Murphey
Conference NameWorkshop on the Algorithmic Foundations of Robotics (WAFR)
Abstract

This paper develops a method for robots to integrate stability into actively seeking out informative measurements through cover- age. We derive a controller using hybrid systems theory that allows us to consider safe equilibrium policies during active data collection. We show that our method is able to maintain Lyapunov attractiveness while still actively seeking out data. Using incremental sparse Gaussian processes, we define distributions which allow a robot to actively seek out informative measurements. We illustrate our methods for shape estimation using a cart double pendulum, dynamic model learning of a hovering quadrotor, and generating galloping gaits starting from stationary equilibrium by learning a dynamics model for the half-cheetah system from

the Roboschool environment.

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