[2605.21719] Mind the Gaps: Multi-Robot Feedback-Driven Ergodic Coverage in Unknown Environments
[Submitted on 20 May 2026]
Title:Mind the Gaps: Multi-Robot Feedback-Driven Ergodic Coverage in Unknown Environments
View a PDF of the paper titled Mind the Gaps: Multi-Robot Feedback-Driven Ergodic Coverage in Unknown Environments, by Thales Costa Silva and 1 other authors
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Abstract:In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly when robots must be efficiently allocated to new sampling locations over time. Ergodic search methods optimize robot trajectories by ensuring that the robots' time-averaged spatial distribution aligns with the spatial distribution of environmental information. While these methods promote effective exploration provided a target distribution, they often fail to account for unknown prior distributions of the environment. To overcome this limitation, we propose an adaptive coverage strategy that utilizes real-time feedback from an environmental model to adjust robot sampling behavior in response to unknown conditions. Our approach enhances traditional ergodic trajectory optimization by constructing a target spatial information distribution based on parametric models of the environment, which are updated online. This strategy assumes that the environment is either static or changes slowly compared to the robot's motion. Our framework allows robots to dynamically prioritize regions of high interest, improving coverage efficiency, synthesizing effective control policies for individual agents, and optimizing resource use in settings with unknown prior distributions. We validate our approach through simulations, demonstrating its effectiveness in enhancing coverage and resource allocation.
Subjects:
Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2605.21719 [cs.RO]
(or arXiv:2605.21719v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.21719
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Thales Costa Silva [view email] [v1] Wed, 20 May 2026 20:25:35 UTC (3,224 KB)
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