Related papers: Maximizing Energy Battery Efficiency in Swarm Robo…
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
The range of applications of traditional optimization methods are limited by the features of the object variables, and of both the objective and the constraint functions. In contrast, population-based algorithms whose optimization…
This paper is concerned with the resource allocation in a multi-unmanned aerial vehicle (UAV)-aided network for providing enhanced mobile broadband (eMBB) services for user equipments. Different from most of the existing network resource…
UAV swarms are widely used in emergency communications, area monitoring, and disaster relief. Coordinated by control centers, they are ideal for federated learning (FL) frameworks. However, current UAV-assisted FL methods primarily focus on…
In recent years, several swarm intelligence optimization algorithms have been proposed to be applied for solving a variety of optimization problems. However, the values of several hyperparameters should be determined. For instance, although…
This paper presents a hierarchical two-stage framework for multi-robot task allocation and trajectory optimization in asymmetric task spaces: (1) a sequential auction allocates tasks using closed-form bid functions, and (2) each robot…
The energetic efficiencies of rocked ratchets reported in the literature typically lie in the sub-percent range. We discuss the problem of optimization of the energetic efficiency of a ratchet, and show that considerably higher efficiencies…
This paper studies optimal thermal management and charging of a battery electric vehicle driving over long distance trips. The focus is on the potential benefits of including a heat pump in the thermal management system for waste heat…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
Robot swarms, systems of many robots that operate in a distributed fashion, have many applications in areas such as search-and-rescue, natural disaster response, and self-assembly. Several of these applications can be abstracted to the…
In recent years, due to the unnecessary wastage of electrical energy in residential buildings, the requirement of energy optimization and user comfort has gained vital importance. In the literature, various techniques have been proposed…
We present a solution for locating the source, or maximum, of an unknown scalar field using a swarm of mobile robots. Unlike relying on the traditional gradient information, the swarm determines an ascending direction to approach the source…
A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…
We consider the problem of optimal budget allocation for crowdsourcing problems, allocating users to tasks to maximize our final confidence in the crowdsourced answers. Such an optimized worker assignment method allows us to boost the…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
This paper develops a scheduling protocol for a team of autonomous robots that operate on long-term persistent tasks. The proposed framework, called meSch, accounts for the limited battery capacity of the robots and ensures that the robots…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
Energy harvesting offers an attractive and promising mechanism to power low-energy devices. However, it alone is insufficient to enable an energy-neutral operation, which can eliminate tedious battery charging and replacement requirements.…
All swarm-intelligence-based optimization algorithms use some stochastic components to increase the diversity of solutions during the search process. Such randomization is often represented in terms of random walks. However, it is not yet…