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Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…
Container terminals, pivotal nodes in the network of empty container movement, hold significant potential for enhancing operational efficiency within terminal depots through effective collaboration between transporters and terminal…
Waste recycling is an important way of saving energy and materials in the production process. In general cases recyclable objects are mixed with unrecyclable objects, which raises a need for identification and classification. This paper…
Electronic toll collection (ETC) system has been a common trend used for toll collection on toll road nowadays. The implementation of electronic toll collection allows vehicles to travel at low or full speed during the toll payment, which…
Over the past decade, the continuous surge in cloud computing demand has intensified data center workloads, leading to significant carbon emissions and driving the need for improving their efficiency and sustainability. This paper focuses…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
The quantification of positively buoyant marine plastic debris is critical to understanding how plastic litter accumulates across the world's oceans and is also crucial to identifying hotspots for targeted cleanup efforts. Currently, the…
Containerization is a lightweight application virtualization technology, providing high environmental consistency, operating system distribution portability, and resource isolation. Existing mainstream cloud service providers have…
In this paper, we consider a perfect coordinated water-filling game, where each user transmits solely on a given carrier. The main goal of the proposed algorithm (which we call FEAT) is to get close to the optimal, while keeping a decent…
Rapid urbanization has intensified traffic congestion, environmental strain, and inefficiencies in transportation systems, creating an urgent need for intelligent and adaptive traffic management solutions. Conventional systems relying on…
This work demonstrates how autonomously learning aspects of robotic operation from sparsely-labeled, real-world data of deployed, engineered solutions at industrial scale can provide with solutions that achieve improved performance.…
This study presents an innovative approach to creating a dynamic, AI based emission inventory system for use with the Weather Research and Forecasting model coupled with Chemistry (WRF Chem), designed to simulate vehicular and other…
Urban traffic attributed to commercial and industrial transportation is observed to largely affect living standards in cities due to external effects pertaining to pollution and congestion. In order to counter this, smart cities deploy…
In this paper, we propose a new mathematical optimization approach to make decisions on the optimal design of a logistic system to produce biogas from waste. We provide an integrated model that allows decision makers to optimally determine…
Cleaning pollution from a heterogeneous flow environment is far from simple. We consider the flow capture problem, which has flows and sinks in a heterogeneous environment, and investigate the problem of positioning pollutant capture units.…
The development of driverless vehicles has spurred the need to predict human driving behavior to facilitate interaction between driverless and human-driven vehicles. Predicting human driving movements can be challenging, and poor prediction…
This paper presents methods to identify the plastic waste based on its resin identification code to provide an efficient recycling of post-consumer plastic waste. We propose the design, training and testing of different machine learning…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to significantly improve traffic flow efficiency in complex urban road networks. However, in situations where vehicle volumes increase to the point…
This paper studies the container lifting phase of a waste-container recycling task in urban environments, performed by a hydraulic loader crane equipped with an underactuated discharge unit, and proposes a residual reinforcement learning…
Many robotic applications that are critical for robot performance require immediate feedback, hence execution time is a critical concern. Furthermore, it is common that robots come with a fixed quantity of hardware resources; if an…