Optimizing usage of limited resources while effectively exploring an area is vital in scenarios where sensing is expensive, has adverse effects, or is exhaustive. We approach this problem by reformulating ergodic search to optimize for when and where to take sensing measurements.

This work introduces a new method to extend ergodic coverage to teams of heterogeneous agents with varied sensing and motion capabilities. It develops a multi-agent heterogeneous search approach that leverages the sensing and motion capabilities of different agents to improve search performance

An improved understanding of the environment in which a robot would have to operate to be able to search the interior of a rubble pile would help roboticists develop better suited robotic platforms and control strategies. To this end, this work offers an approach to characterize and visualize the interior of a rubble pile and conduct a preliminary analysis of the occurrence of voids using data collected by responders at the 2021 Champlain Towers South Condominiums collapse in Surfside, FL.