Planning informative trajectories while considering the spatial distribution of the information over the environment, as well as constraints such as the robot’s limited battery capacity, makes the long-time horizon persistent coverage problem complex. Ergodic search methods consider the spatial distribution of environmental information while optimizing robot trajectories; however, current methods lack the ability to construct the target information spatial distribution for environments that vary stochastically across space and time. Moreover, current coverage methods dealing with battery capacity constraints either assume simple robot and battery models or are computationally expensive. To address these problems, we propose a framework called Eclares, in which our contribution is two-fold. 1) First, we propose a method to construct the target information spatial distribution for ergodic trajectory optimization using clarity, an information measure bounded between [0, 1]. The clarity dynamics allow us to capture information decay due to a lack of measurements and to quantify the maximum attainable information in stochastic spatiotemporal environments. 2) Second, instead of directly tracking the ergodic trajectory, we introduce the energy-aware (eware) filter, which iteratively validates the ergodic trajectory to ensure that the robot has enough energy to return to the charging station when needed. The proposed eware filter is applicable to nonlinear robot models and is computationally lightweight. We demonstrate the working of the framework through a simulation case study. [Code]a[Video]b

This article presents thegatekeeperalgorithm, a real-time and computationally lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations.gatekeeperintegrates with existing path planners and feedback controllers by introducing an additional verification step to ensure that proposed trajectories can be executed safely, despite nonlinear dynamics subject to bounded disturbances, input constraints, and partial knowledge of the environment. Our key contribution is that 1) we propose an algorithm to recursively construct safe trajectories by numerically forward propagating the system over a (short) finite horizon, and 2) we prove that tracking such a trajectory ensures the system remains safe for all future time, i.e., beyond the finite horizon. We demonstrate the method in a simulation of a dynamic firefighting mission, and in physical experiments of a quadrotor navigating in an obstacle environment that is sensed online. We also provide comparisons against the state-of-the-art techniques for similar problems.

This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method to ensure that nonlinear systems can operate safely in dynamic environments despite limited perception. gatekeeper integrates with existing path planners and feedback controllers by introducing an additional verification step that ensures that proposed trajectories can be executed safely, despite nonlinear dynamics subject to bounded disturbances, input constraints and partial knowledge of the environment. Our key contribution is that (A) we propose an algorithm to recursively construct committed trajectories, and (B) we prove that tracking the committed trajectory ensures the system is safe for all time into the future. The method is demonstrated on a complicated firefighting mission in a dynamic environment, and compares against the state-of-the-art techniques for similar problems.