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We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…
Multirotor unmanned aerial vehicle is a prevailing type of aerial robots with wide real-world applications. The energy efficiency of the robot is a critical aspect of its performance, determining the range and duration of the missions that…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
This paper presents a bi-level optimization framework to compute the maximum-distance stint and charging strategies for a fully electric endurance race car. Thereby, the lower level computes the minimum-stint-time Powertrain Operation (PO)…
The rise of battery-powered vehicles has led to many new technical and methodological hurdles. Among these, the efficient planning of an electric fleet to fulfill passenger transportation requests still represents a major challenge. This is…
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…
The electrification of long-haul freight transport introduces several new challenges, such as the limited capacity and congestion at en-route charging infrastructure. To reduce waiting times during peak periods, this paper proposes a…
The electric vehicle routing problem (EVRP) has garnered great interest from researchers and industrialists in an attempt to move from fuel-based vehicles to healthier and more efficient electric vehicles (EVs). While it seems that the EVRP…
Electric trucks usually need to charge their batteries during long-range delivery missions, and the charging times are often nontrivial. As charging resources are limited, waiting times for some trucks can be prolonged at certain stations.…
In the Distance-constrained Vehicle Routing Problem (DVRP), we are given a graph with integer edge weights, a depot, a set of $n$ terminals, and a distance constraint $D$. The goal is to find a minimum number of tours starting and ending at…
The Capacitated Location Routing Problem is an important planning and routing problem in logistics, which generalizes the capacitated vehicle routing problem and the uncapacitated facility location problem. In this problem, we are given a…
Multi-robot navigation and path planning in continuous state and action spaces with uncertain environments remains an open challenge. Deep Reinforcement Learning (RL) is one of the most popular paradigms for solving this task, but its…
Electric vehicles (EVs) have been highly favoured as a future transportation mode in the transportation section in recent years. EVs have many advantages compared to traditional transportation, especially the environmental aspect. However,…
Strategic aggregation of electric vehicle batteries as energy reservoirs can optimize power grid demand, benefiting smart and connected communities, especially large office buildings that offer workplace charging. This involves optimizing…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
Urban Air Mobility (UAM) aims to expand existing transportation networks in metropolitan areas by offering short flights either to transport passengers or cargo. Electric vertical takeoff and landing aircraft powered by lithium-ion battery…
This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle's task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large…
We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control…
Continuous exploration without interruption is important in scenarios such as search and rescue and precision agriculture, where consistent presence is needed to detect events over large areas. Ergodic search already derives continuous…
This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…