Related papers: Energy-Aware Route Planning for a Battery-Constrai…
Battery-less Internet of Things (IoT) devices rely on ambient energy harvesting and therefore require scheduling policies that jointly account for energy intermittency and hard timing constraints. This challenge is especially acute in…
Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the path planning problem requires a linear objective function and constraints, limiting the fidelity of the…
This paper studies charging scheduling problem of electric vehicles (EVs) in the scale of a microgrid (e.g., a university or town) where a set of charging stations are controlled by a central aggregator. A bi-objective optimization problem…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…
We consider energy-aware planning for an unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) team operating in a stochastic environment. The UAV must visit a set of air points in minimum time while respecting energy constraints,…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
Severe pollution induced by traditional fossil fuels arouses great attention on the usage of plug-in electric vehicles (PEVs) and renewable energy. However, large-scale penetration of PEVs combined with other kinds of appliances tends to…
To tackle the twin challenges of limited battery life and lengthy charging durations in electric vehicles (EVs), this paper introduces an Energy-efficient Hybrid Model Predictive Planner (EHMPP), which employs an energy-saving optimization…
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the…
Approximate computing is a computation domain which can be used to trade time and energy with quality and therefore is useful in embedded systems. Energy is the prime resource in battery-driven embedded systems, like robots. Approximate…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
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…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…
Unmanned aerial vehicles (UAVs) have been widely used in many applications. The limited flight time of UAVs, however, still remains as a major challenge. Although numerous approaches have been developed to recharge the battery of UAVs…
There is a rise in the need for efficient battery charging methods due to the high penetration of electromobility solutions. Battery swapping, a technique in which fully or partially depleted batteries are exchanged and then transported to…
This work studies optimal solar charging for solar-powered self-sustainable UAV communication networks, considering the day-scale time-variability of solar radiation and user service demand. The objective is to optimally trade off between…
In this paper, we investigate the charging scheduling optimization problem for large electric truck fleets operating with dedicated charging infrastructure. A central coordinator jointly determines the charging sequence and power allocation…