Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers. - Elena Wittemyer; Ian Abraham (IROS, 2023)

Multi-Agent Ergodic Exploration under Smoke-Based, Time-Varying Sensor Visibility Constraints. - Elena Wittemyer; Ananya Rao; Ian Abraham; Howie Choset (CoRR, 2025)