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Time-Optimal Ergodic Retrieval — arXiv:2610.21823

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.21823
License (as archived): CC0-1.0
Archived: 2026-10-16T10:40:02.442Z
SHA-256 of the archived text: 823be7578279296ef3e3df8a9cf1ef00aea9c6442d459fbad60f01ab86a46df1
Stable URL of this page: https://metraipolis.com/documento/dc_381effefc810

How to cite

Time-Optimal Ergodic Retrieval — arXiv:2610.21823 — arXiv (en), https://arxiv.org/abs/2610.21823 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_381effefc810 (Metraipolis archive dc_381effefc810, sha256 823be7578279296ef3e3df8a9cf1ef00aea9c6442d459fbad60f01ab86a46df1)

BibTeX

@misc{dc381effefc810,
  title = {Time-Optimal Ergodic Retrieval — arXiv:2610.21823},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.21823},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_381effefc810; sha256 823be7578279296ef3e3df8a9cf1ef00aea9c6442d459fbad60f01ab86a46df1},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.21823. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Retrieval tasks are a form of search task where a robot must explore, find an object, and return with it as quickly as possible. Recent work in ergodic control has demonstrated time-optimal path planning for search tasks where visitation is proportionally matched, within some tolerance, to a given target distribution. However, these planners minimize the duration of a full deterministic search, while retrieval missions end their search at an unknown point in the trajectory and must return to a given base. In this work, we propose a new formulation of the time-optimal ergodic search problem that models detection as a Poisson process and minimizes total mission time by including the return phase in the objective. Experimental results show that time-optimal ergodic retrieval (TOER) achieves up to $19\%$ shorter mission durations relative to ergodic baselines and that this advantage grows as the return phase becomes more costly. Simulation and hardware implementations validate TOER's compatibility with environments of non-convex geometry as well as both 2D and 3D search domains.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2610.21823 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-16T08:52:17.670Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).