{"id":"https://openalex.org/W7161170441","doi":"https://doi.org/10.48550/arxiv.2605.13442","title":"Asymptotically Optimal Ergodic Coverage on Generalized Motion Fields","display_name":"Asymptotically Optimal Ergodic Coverage on Generalized Motion Fields","publication_year":2026,"publication_date":"2026-05-13","ids":{"openalex":"https://openalex.org/W7161170441","doi":"https://doi.org/10.48550/arxiv.2605.13442"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.13442","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13442","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.13442","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136098091","display_name":"Christian Hughes","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hughes, Christian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136159724","display_name":"Yilang Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yilang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120727024","display_name":"Yanis Lahrach","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lahrach, Yanis","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068708296","display_name":"Julia Engdahl","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Engdahl, Julia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111222245","display_name":"Houston Warren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Warren, Houston","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136127844","display_name":"Darrick Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Darrick","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136112926","display_name":"Fabio Ramos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ramos, Fabio","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135655732","display_name":"Travis Miles","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Miles, Travis","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5062827877","display_name":"Ian Abraham","orcid":"https://orcid.org/0000-0003-0299-1760"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abraham, Ian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6324999928474426,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6324999928474426,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.14399999380111694,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.03840000182390213,"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":0.8216000199317932},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5723000168800354},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5120000243186951},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5091000199317932},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4325999915599823},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4092000126838684},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.39899998903274536},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.3702000081539154}],"concepts":[{"id":"https://openalex.org/C122044880","wikidata":"https://www.wikidata.org/wiki/Q5498822","display_name":"Ergodic theory","level":2,"score":0.8216000199317932},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5723000168800354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5702999830245972},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5120000243186951},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5091000199317932},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4350000023841858},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4325999915599823},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4092000126838684},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.3702000081539154},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3626999855041504},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.33730000257492065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.336899995803833},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33219999074935913},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3321000039577484},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.3034000098705292},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.30250000953674316},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.295199990272522},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.28369998931884766},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2515000104904175},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.13442","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13442","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.13442","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13442","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.8221421837806702,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"robotic":[1,201],"exploration":[2,35,164],"in":[3,56,81,109,158,165,210],"remote":[4],"and":[5,15,40,67,83,105,134,161,167,189,192,199],"extreme":[6],"environments":[7,26,39,213],"allows":[8],"scientists":[9],"to":[10,42,89,96,182,206],"model":[11],"complex":[12],"transport":[13],"phenomena":[14],"collective":[16],"behaviors":[17],"described":[18],"by":[19,172],"continuously":[20],"deforming":[21],"flow":[22],"fields.":[23],"Although":[24],"these":[25],"are":[27],"naturally":[28],"modeled":[29],"as":[30,100,129],"time-varying":[31],"domains,":[32],"most":[33],"adaptive":[34,98],"methods":[36,74],"assume":[37],"static":[38],"fail":[41],"provide":[43],"adequate":[44],"coverage":[45,103,108,147,156,209],"or":[46],"satisfy":[47],"any":[48],"formal":[49],"guarantees.":[50],"This":[51],"is":[52],"especially":[53],"the":[54,91,110,146],"case":[55],"oceanography":[57],"where":[58],"autonomous":[59],"underwater":[60],"systems":[61],"(UxS)":[62],"have":[63],"highly":[64],"restrictive":[65],"compute":[66],"payload":[68],"requirements":[69],"that":[70,75,139,151,178],"necessitate":[71],"path":[72],"planning":[73,170],"yield":[76],"robust":[77],"data":[78],"collection":[79],"strategies":[80],"open-loop":[82,169],"underactuated":[84],"settings.":[85],"In":[86],"this":[87,152],"work,":[88],"address":[90],"aforementioned":[92],"issues,":[93],"we":[94],"propose":[95],"formulate":[97],"search":[99],"an":[101],"ergodic":[102,111,132,155,208],"problem":[104],"investigate":[106],"certifying":[107],"sense":[112],"over":[113],"evolving":[114],"domains":[115],"with":[116],"flow-induced":[117],"dynamics.":[118,175,217],"We":[119,149],"expand":[120],"upon":[121],"recent":[122],"work":[123],"demonstrating":[124],"maximum":[125],"mean":[126],"discrepancy":[127],"(MMD)":[128],"a":[130,136],"functional":[131],"metric,":[133],"derive":[135],"flow-adaptive":[137],"formulation":[138],"explicitly":[140],"accounts":[141],"for":[142],"domain":[143],"evolution":[144],"within":[145],"objective.":[148],"show":[150],"approach":[153],"preserves":[154],"guarantees":[157],"ambient":[159],"flows":[160],"enables":[162],"effective":[163],"under-actuated,":[166],"even":[168],"settings":[171],"integrating":[173],"environment":[174],"Experiments":[176],"validate":[177,203],"our":[179,204],"method":[180],"generalizes":[181],"diverse":[183],"spatiotemporal":[184],"processes":[185],"including":[186],"ocean":[187],"exploration,":[188],"tracking":[190],"human":[191],"cattle":[193],"movement.":[194],"Physical":[195],"experiments":[196],"on":[197],"aerial":[198],"legged":[200],"platforms":[202],"ability":[205],"obtain":[207],"non-convex,":[211],"flow-restricted":[212],"while":[214],"respecting":[215],"robot":[216]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-15T00:00:00"}