Published October 20, 2025
| Version v1
Conference paper
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Ergodic control for active sensing of 2D Euclidean surfaces
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Description
This work proposes an active sensing strategy for efficient
surface defects detection in industrial settings, using
robotic manipulators. The approach leverages prior
knowledge of the underlying manufacturing process to focus
inspection on the most relevant surface regions. The
sensing trajectories are planned through ergodic control,
balancing exploration and exploitation toward areas with
higher defects likelihood.
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