{"id":"https://openalex.org/W4401416108","doi":"https://doi.org/10.1109/icra57147.2024.10609871","title":"Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints","display_name":"Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416108","doi":"https://doi.org/10.1109/icra57147.2024.10609871"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10609871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10609871","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065778538","display_name":"Adam Seewald","orcid":"https://orcid.org/0000-0003-1610-3429"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Seewald","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,CT,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,CT,USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063180172","display_name":"Cameron Lerch","orcid":null},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cameron J. Lerch","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,CT,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,CT,USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072524447","display_name":"Marvin Chanc\u00e1n","orcid":"https://orcid.org/0000-0002-7427-5854"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marvin Chanc\u00e1n","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,CT,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,CT,USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004284487","display_name":"Aaron M. Dollar","orcid":"https://orcid.org/0000-0002-2409-4668"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron M. Dollar","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,CT,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,CT,USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062827877","display_name":"Ian Abraham","orcid":"https://orcid.org/0000-0003-0299-1760"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian Abraham","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,CT,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,CT,USA","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":null,"apc_paid":null,"fwci":2.7925,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.90956828,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7048","last_page":"7054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ergodic-theory","display_name":"Ergodic theory","score":0.674562931060791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6707148551940918},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5050967335700989},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.49869680404663086},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.48947465419769287},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4364906847476959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20708471536636353},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12958934903144836},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07427257299423218}],"concepts":[{"id":"https://openalex.org/C122044880","wikidata":"https://www.wikidata.org/wiki/Q5498822","display_name":"Ergodic theory","level":2,"score":0.674562931060791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6707148551940918},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5050967335700989},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.49869680404663086},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.48947465419769287},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4364906847476959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20708471536636353},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12958934903144836},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07427257299423218},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10609871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10609871","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7400000095367432}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308380","display_name":"Yale University","ror":"https://ror.org/03v76x132"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1544032329","https://openalex.org/W1561867011","https://openalex.org/W1605499814","https://openalex.org/W1717366851","https://openalex.org/W1748988419","https://openalex.org/W2019738489","https://openalex.org/W2066682746","https://openalex.org/W2083245347","https://openalex.org/W2108434160","https://openalex.org/W2123871098","https://openalex.org/W2125884948","https://openalex.org/W2129439035","https://openalex.org/W2167046788","https://openalex.org/W2267012268","https://openalex.org/W2283600647","https://openalex.org/W2485276883","https://openalex.org/W2576345622","https://openalex.org/W2763117619","https://openalex.org/W2807778117","https://openalex.org/W2883952496","https://openalex.org/W2887399021","https://openalex.org/W2890073142","https://openalex.org/W2899228095","https://openalex.org/W2906764419","https://openalex.org/W2963855697","https://openalex.org/W2966262234","https://openalex.org/W2969076781","https://openalex.org/W3082564882","https://openalex.org/W3089899521","https://openalex.org/W3099642387","https://openalex.org/W3100296869","https://openalex.org/W3101139490","https://openalex.org/W3118951974","https://openalex.org/W3120969902","https://openalex.org/W3146928153","https://openalex.org/W3207315207","https://openalex.org/W4243561742","https://openalex.org/W4253570324","https://openalex.org/W4285102165","https://openalex.org/W4312425428","https://openalex.org/W4383108399","https://openalex.org/W4383109041","https://openalex.org/W4385430612","https://openalex.org/W6926235005"],"related_works":["https://openalex.org/W50969306","https://openalex.org/W2390585021","https://openalex.org/W412641959","https://openalex.org/W4292101436","https://openalex.org/W2341040961","https://openalex.org/W4287207389","https://openalex.org/W2779828239","https://openalex.org/W3154976382","https://openalex.org/W2044004505","https://openalex.org/W2951177262"],"abstract_inverted_index":{"Continuous":[0],"exploration":[1,111,157],"without":[2],"interruption":[3],"is":[4,19,77],"important":[5],"in":[6,33,43],"scenarios":[7,35],"such":[8],"as":[9],"search":[10,28,54,96,132,135],"and":[11,13,106,128,143,158],"rescue":[12],"precision":[14],"agriculture,":[15],"where":[16],"consistent":[17],"presence":[18],"needed":[20],"to":[21,81,133],"detect":[22],"events":[23],"over":[24],"large":[25],"areas.":[26],"Ergodic":[27],"already":[29],"derives":[30,119],"continuous":[31,156],"trajectories":[32],"these":[34],"so":[36],"that":[37],"a":[38,65,85],"robot":[39,66],"spends":[40],"more":[41],"time":[42],"areas":[44],"with":[45,98],"high":[46],"information":[47],"density.":[48],"However,":[49],"existing":[50],"literature":[51],"on":[52,84],"ergodic":[53,95,131,134,152],"does":[55],"not":[56,79],"consider":[57],"the":[58,72,147],"robot's":[59],"energy":[60],"constraints,":[61],"limiting":[62],"how":[63],"long":[64],"can":[67],"explore.":[68],"In":[69],"fact,":[70],"if":[71],"robots":[73],"are":[74],"battery-powered,":[75],"it":[76],"physically":[78],"possible":[80],"continuously":[82],"explore":[83],"single":[86],"battery":[87,104,122,137],"charge.":[88],"Our":[89,117],"paper":[90],"tackles":[91],"this":[92],"challenge,":[93],"integrating":[94],"methods":[97],"energy-aware":[99,151],"coverage.":[100,161],"We":[101],"trade":[102],"off":[103],"usage":[105],"coverage":[107],"quality,":[108],"maintaining":[109],"uninterrupted":[110],"by":[112],"at":[113],"least":[114],"one":[115],"agent.":[116],"approach":[118],"an":[120],"abstract":[121],"model":[123],"for":[124],"future":[125],"state-of-charge":[126],"estimation":[127],"extends":[129],"canonical":[130],"under":[136],"constraints.":[138],"Empirical":[139],"data":[140],"from":[141],"simulations":[142],"real-world":[144],"experiments":[145],"demonstrate":[146],"effectiveness":[148],"of":[149],"our":[150],"search,":[153],"which":[154],"ensures":[155],"guarantees":[159],"spatial":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
