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Author: jueunkwon

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-                            <span class="author-block">Department Name, University Name</span>
+                            <span class="author-block">Department of Mechanical Engineering, Northwestern University</span>
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                     <h2 class="title is-3">Abstract</h2>
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-                            This is an Volumetric Ergodic Control.
+                            Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment through its body and sensors with physical volume. In this work, we introduce a new ergodic control formulation that optimizes spatial coverage using a volumetric state representation. Our method preserves the asymptotic coverage guarantees of ergodic control, adds minimal computational overhead for real-time control, and supports arbitrary sample-based volumetric models. We evaluate our method across search and manipulation tasks---with multiple robot dynamics and end-effector geometries or sensor models---and show that it improves coverage efficiency by more than a factor of two while maintaining a $100\%$ task completion rate across all experiments, outperforming the standard ergodic control method. Finally, we demonstrate the effectiveness of our method on a robot arm performing mechanical erasing tasks.
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