Ergodic Trajectory Optimization on Generalized Domains Using Maximum Mean Discrepancy - Christian Hughes; Houston Warren; Darrick Lee; Fabio Ramos; Ian Abraham (IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, 2025)

Multi-Agent Ergodic Exploration Under Smoke-Based Time-Varying Sensor Visibility Constraints - Elena Wittemyer; Ananya Rao; Ian Abraham; Howie Choset (IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, 2025)

Ergodic Exploration over Meshable Surfaces - Dayi Dong; Albert Xu; Geordan Gutow; Howie Choset; Ian Abraham (IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, 2025)

Is Bellman Equation Enough for Learning Control? - Haoxiang You; Lekan P. Molu; Ian Abraham (CoRR, 2025)

Multi-Agent Ergodic Exploration under Smoke-Based, Time-Varying Sensor Visibility Constraints - Elena Wittemyer; Ananya Rao; Ian Abraham; Howie Choset (CoRR, 2025)

Ergodic Exploration over Meshable Surfaces - Dayi Dong; Albert Xu; Geordan Gutow; Howie Choset; Ian Abraham (CoRR, 2025)

Accelerating Visual-Policy Learning through Parallel Differentiable Simulation - Haoxiang You; Yilang Liu; Ian Abraham (CoRR, 2025)

Behavior Synthesis via Contact-Aware Fisher Information Maximization - Hrishikesh Sathyanarayan; Ian Abraham (CoRR, 2025)

RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware - Adam Seewald; Marvin Chancán; Connor M. McCann; Seonghoon Noh; Omeed Fallahi; Hector Castillo; Ian Abraham; Aaron M. Dollar (IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, 2024)

Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints - Adam Seewald; Cameron J. Lerch; Marvin Chancán; Aaron M. Dollar; Ian Abraham (IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, 2024)

Stein Variational Ergodic Search - Darrick Lee; Cameron Lerch; Fabio Ramos; Ian Abraham (Robotics: Science and Systems XX, Delft, The Netherlands, July 15-19, 2024, 2024)

RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware - Adam Seewald; Marvin Chancán; Connor M. McCann; Seonghoon Noh; Omeed Fallahi; Hector Castillo; Ian Abraham; Aaron M. Dollar (CoRR, 2024)

RAnGE: Reachability Analysis for Guaranteed Ergodicity - Henry P. Berger; Ian Abraham (CoRR, 2024)

Stein Variational Ergodic Search - Darrick Lee; Cameron Lerch; Fabio Ramos; Ian Abraham (CoRR, 2024)

Koopman Operators in Robot Learning - Lu Shi; Masih Haseli; Giorgos Mamakoukas; Daniel Bruder; Ian Abraham; Todd D. Murphey; Jorge Cortés; Konstantinos Karydis (CoRR, 2024)

Measure Preserving Flows for Ergodic Search in Convoluted Environments - Albert Xu; Bhaskar Vundurthy; Geordan Gutow; Ian Abraham; Jeff G. Schneider; Howie Choset (CoRR, 2024)

Ergodic Trajectory Optimization on Generalized Domains Using Maximum Mean Discrepancy - Christian Hughes; Houston Warren; Darrick Lee; Fabio Ramos; Ian Abraham (CoRR, 2024)

Exciting Contact Modes in Differentiable Simulations for Robot Learning - Hrishikesh Sathyanarayan; Ian Abraham (CoRR, 2024)

Scale-Invariant Specifications for Human-Swarm Systems - Joel Meyer; Ahalya Prabhakar; Allison Pinosky; Ian Abraham; Annalisa T. Taylor; Millicent Schlafly; Katarina Popovic; Giovani Diniz; Brendan Teich; Borislava I. Simidchieva; Shane Clark; Todd D. Murphey (Field Robotics, 2023)

Hybrid control for combining model-based and model-free reinforcement learning - Allison Pinosky; Ian Abraham; Alexander Broad; Brenna Argall; Todd D. Murphey (Int. J. Robotics Res., 2023)

Learning Stable Models for Prediction and Control - Giorgos Mamakoukas; Ian Abraham; Todd D. Murphey (IEEE Trans. Robotics, 2023)

A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search - Zhongqiang Ren; Akshaya Kesarimangalam Srinivasan; Bhaskar Vundurthy; Ian Abraham; Howie Choset (IEEE Trans. Robotics, 2023)

Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions - Cameron Lerch; Dayi Dong; Ian Abraham (IEEE International Conference on Robotics and Automation, ICRA 2023, London, UK, May 29 - June 2, 2023, 2023)

Multi-Agent Multi-Objective Ergodic Search Using Branch and Bound - Akshaya Kesarimangalam Srinivasan; Geordan Gutow; Zhongqiang Ren; Ian Abraham; Bhaskar Vundurthy; Howie Choset (IROS, 2023)

Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers - Elena Wittemyer; Ian Abraham (IROS, 2023)

Time Optimal Ergodic Search - Dayi E. Dong; Henry P. Berger; Ian Abraham (Robotics: Science and Systems XIX, Daegu, Republic of Korea, July 10-14, 2023, 2023)

Time Optimal Ergodic Search - Dayi Dong; Henry P. Berger; Ian Abraham (CoRR, 2023)

Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers - Elena Wittemyer; Ian Abraham (CoRR, 2023)

DEUX: Active Exploration for Learning Unsupervised Depth Perception - Marvin Chancán; Alex Wong; Ian Abraham (CoRR, 2023)

Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints - Adam Seewald; Cameron J. Lerch; Marvin Chancán; Aaron M. Dollar; Ian Abraham (CoRR, 2023)

Learning Cooperative Multi-Agent Policies With Partial Reward Decoupling - Benjamin Freed; Aditya Kapoor; Ian Abraham; Jeff G. Schneider; Howie Choset (IEEE Robotics Autom. Lett., 2022)

Sparse Sensing in Ergodic Optimization - Ananya Rao; Ian Abraham; Guillaume Sartoretti; Howie Choset (Distributed Autonomous Robotic Systems - 16th International Symposium, DARS 2022, Montbéliard, France, 28-30 November 2022, 2022)

Multi-Agent Dynamic Ergodic Search with Low-Information Sensors - Howard Coffin; Ian Abraham; Guillaume Sartoretti; Tyler Dillstrom; Howie Choset (2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, 2022)

Scale-Invariant Fast Functional Registration - Muchen Sun; Allison Pinosky; Ian Abraham; Todd D. Murphey (Robotics Research - The 20th International Symposium ISRR 2022, Geneva, Switzerland, 25-30 September 2022, 2022)

A Local Optimization Framework for Multi-Objective Ergodic Search - Zhongqiang Ren; Akshaya Kesarimangalam Srinivasan; Howard Coffin; Ian Abraham; Howie Choset (Robotics: Science and Systems XVIII, New York City, NY, USA, June 27 - July 1, 2022, 2022)

A Cauchy-type Hamilton-Jacobi Successive Approximation Scheme For Reachable Sets Computation - Olalekan Ogunmolu; Ian Abraham; Sylvia L. Herbert (CoRR, 2022)

A Local Optimization Framework for Multi-Objective Ergodic Search - Zhongqiang Ren; Akshaya Kesarimangalam Srinivasan; Howard Coffin; Ian Abraham; Howie Choset (CoRR, 2022)

Scale-Invariant Fast Functional Registration - Muchen Sun; Allison Pinosky; Ian Abraham; Todd D. Murphey (CoRR, 2022)

Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions - Cameron Lerch; Ethan Dong; Ian Abraham (CoRR, 2022)

Scale-Invariant Specifications for Human-Swarm Systems - Joel Meyer; Ahalya Prabhakar; Allison Pinosky; Ian Abraham; Annalisa T. Taylor; Millicent Schlafly; Katarina Popovic; Giovani Diniz; Brendan Teich; Borislava I. Simidchieva; Shane Clark; Todd D. Murphey (CoRR, 2022)

An Ergodic Measure for Active Learning From Equilibrium - Ian Abraham; Ahalya Prabhakar; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2021)

Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain - Maurice Rahme; Ian Abraham; Matthew L. Elwin; Todd D. Murphey (IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, 2021)

Hybrid Control for Learning Motor Skills - Ian Abraham; Alexander Broad; Allison Pinosky; Brenna Argall; Todd D. Murphey (Algorithmic Foundations of Robotics XIV, Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics, WAFR 2021, Oulu, Finland, June 21-23, 2021, 2021)

Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling - Benjamin Freed; Aditya Kapoor; Ian Abraham; Jeff G. Schneider; Howie Choset (CoRR, 2021)

Data-driven Koopman operators for model-based shared control of human-machine systems - Alexander Broad; Ian Abraham; Todd D. Murphey; Brenna Argall (Int. J. Robotics Res., 2020)

Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control - Ian Abraham; Ankur Handa; Nathan D. Ratliff; Kendall Lowrey; Todd D. Murphey; Dieter Fox (IEEE Robotics Autom. Lett., 2020)

Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation - Ahalya Prabhakar; Ian Abraham; Annalisa T. Taylor; Millicent Schlafly; Katarina Popovic; Giovani Diniz; Brendan Teich; Borislava I. Simidchieva; Shane Clark; Todd D. Murphey (Robotics: Science and Systems XVI, Virtual Event / Corvalis, Oregon, USA, July 12-16, 2020, 2020)

Learning Data-Driven Stable Koopman Operators - Giorgos Mamakoukas; Ian Abraham; Todd D. Murphey (CoRR, 2020)

Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control - Ian Abraham; Ankur Handa; Nathan D. Ratliff; Kendall Lowrey; Todd D. Murphey; Dieter Fox (CoRR, 2020)

An Ergodic Measure for Active Learning From Equilibrium - Ian Abraham; Ahalya Prabhakar; Todd D. Murphey (CoRR, 2020)

Hybrid Control for Learning Motor Skills - Ian Abraham; Alexander Broad; Allison Pinosky; Brenna Argall; Todd D. Murphey (CoRR, 2020)

Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation - Ahalya Prabhakar; Ian Abraham; Annalisa T. Taylor; Millicent Schlafly; Katarina Popovic; Giovani Diniz; Brendan Teich; Borislava I. Simidchieva; Shane Clark; Todd D. Murphey (CoRR, 2020)

Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems - Alexander Broad; Ian Abraham; Todd D. Murphey; Brenna Argall (CoRR, 2020)

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion - Maurice Rahme; Ian Abraham; Matthew L. Elwin; Todd D. Murphey (CoRR, 2020)

Active Learning of Dynamics for Data-Driven Control Using Koopman Operators - Ian Abraham; Todd D. Murphey (IEEE Trans. Robotics, 2019)

Active Area Coverage from Equilibrium - Ian Abraham; Ahalya Prabhakar; Todd D. Murphey (CoRR, 2019)

Active Learning of Dynamics for Data-Driven Control Using Koopman Operators - Ian Abraham; Todd D. Murphey (CoRR, 2019)

Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems - Ian Abraham; Todd D. Murphey (IEEE Robotics Autom. Lett., 2018)

Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration - Anastasia Mavrommati; Emmanouil Tzorakoleftherakis; Ian Abraham; Todd D. Murphey (IEEE Trans. Robotics, 2018)

Data-Driven Measurement Models for Active Localization in Sparse Environments - Ian Abraham; Anastasia Mavrommati; Todd D. Murphey (Robotics: Science and Systems XIV, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA, June 26-30, 2018, 2018)

Active Area Coverage from Equilibrium - Ian Abraham; Ahalya Prabhakar; Todd D. Murphey (Algorithmic Foundations of Robotics XIII, Proceedings of the 13th Workshop on the Algorithmic Foundations of Robotics, WAFR 2018, Mérida, Mexico, December 9-11, 2018, 2018)

Data-Driven Measurement Models for Active Localization in Sparse Environments - Ian Abraham; Anastasia Mavrommati; Todd D. Murphey (CoRR, 2018)

Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multi-Agent Systems - Ian Abraham; Todd D. Murphey (CoRR, 2018)

Structured Neural Network Dynamics for Model-based Control - Alexander Broad; Ian Abraham; Todd D. Murphey; Brenna D. Argall (CoRR, 2018)

Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation - Ian Abraham; Ahalya Prabhakar; Mitra J. Z. Hartmann; Todd D. Murphey (IEEE Robotics Autom. Lett., 2017)

Model-Based Control Using Koopman Operators - Ian Abraham; Gerardo De La Torre; Todd D. Murphey (Robotics: Science and Systems XIII, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA, July 12-16, 2017, 2017)

Real-Time Area Coverage and Target Localization using Receding-Horizon Ergodic Exploration - Anastasia Mavrommati; Emmanouil Tzorakoleftherakis; Ian Abraham; Todd D. Murphey (CoRR, 2017)

Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation - Ian Abraham; Ahalya Prabhakar; Mitra J. Z. Hartmann; Todd D. Murphey (CoRR, 2017)

Model-Based Control Using Koopman Operators - Ian Abraham; Gerardo De La Torre; Todd D. Murphey (CoRR, 2017)

Model predictive control of buoyancy propelled autonomous underwater glider - Ian Abraham; Jingang Yi (American Control Conference, ACC 2015, Chicago, IL, USA, July 1-3, 2015, 2015)

Supervised Learning Extensions to the CLAM Network - Neil A. Thacker; Ian Abraham; Patrick Courtney (Neural Networks, 1997)