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This paper proposes an optimization framework that addresses both cycling degradation and calendar aging of batteries for autonomous mobile robot (AMR) to minimize battery degradation while ensuring task completion. A rectangle method of…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
Complex robot behaviors are often structured as state machines, where states encapsulate actions and a transition function switches between states. Since transitions depend on physical parameters, when the environment changes, a roboticist…
Today's IoT devices rely on batteries, which offer stable energy storage but contain harmful chemicals. Having billions of IoT devices powered by batteries is not sustainable for the future. As an alternative, batteryless devices run on…
Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…
We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion rates, due to their varying sizes, speeds, capabilities, and…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
The rapid electrification of transportation, driven by stringent decarbonization targets and supportive policies, poses significant challenges for distribution system operators (DSOs). When numerous electric vehicles (EVs) charge…
We introduce and study a class of optimization problems we coin replenishment problems with fixed turnover times: a very natural model that has received little attention in the literature. Nodes with capacity for storing a certain commodity…
Mobile edge computing (MEC) deployment in a multi-robot cooperation (MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources…
This paper addresses optimal battery thermal management (BTM), charging, and eco-driving of a battery electric vehicle (BEV) with the goal of improving its grid-to-meter energy efficiency. Thus, an optimisation problem is formulated, aiming…
In modern networks, the use of drones as mobile base stations (MBSs) has been discussed for coverage flexibility. However, the realization of drone-based networks raises several issues. One of the critical issues is drones are extremely…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
The problem we focus on in this paper is to find a nearly optimal sliding mode controller of continuous-time nonlinear multiple-input multiple-output (MIMO) systems that can both reduce chattering and minimize the cost function, which is a…
The proper disposal and repurposing of end-of-life electric vehicle batteries are critical for maximizing their environmental benefits. This study introduces a robust model predictive control (MPC) framework designed to optimize the battery…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Efficient utilization of cooperating robots in the assembly of aircraft structures relies on balancing the workload of the robots and ensuring collision-free scheduling. We cast this problem as that of allocating a large number of…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…