Before revision:  Indeed, the original ergodic control formulation will typically not allow exploratory behaviors to be generated for a complete 6D end-effector pose. In this paper , we propose a solution for ergodic exploration based on the spectral analysis in multidimensional spaces using low-rank tensor approximation techniques.
After revision:  To address this issue , we propose a solution for ergodic exploration based on the spectral analysis in multidimensional spaces using low-rank tensor approximation techniques.