Related papers: meSch: Multi-Agent Energy-Aware Scheduling for Tas…
In this paper we formulate an optimization approach to schedule electrical loads given a short term prediction of time-varying power production and the ability to store only a limited amount of electrical energy. The proposed approach is…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
In the paper, we consider delay-optimal charging scheduling of the electric vehicles (EVs) at a charging station with multiple charge points. The charging station is equipped with renewable energy generation devices and can also buy energy…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
Electric Vehicles (EVs) are emerging as battery energy storage systems (BESSs) of increasing importance for different power grid services. However, the unique characteristics of EVs makes them more difficult to operate than dedicated BESSs.…
Miniaturization and cost, two of the main attractive factors of swarm robotics, have motivated its use as a solution in object collecting tasks, search & rescue missions, and other applications. However, in the current literature only a few…
This paper presents a novel fleet management strategy for battery-powered robot fleets tasked with intra-factory logistics in an autonomous manufacturing facility. In this environment, repetitive material handling operations are subject to…
In operations of multi-agent teams ranging from homogeneous robot swarms to heterogeneous human-autonomy teams, unexpected events might occur. While efficiency of operation for multi-agent task allocation problems is the primary objective,…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
We consider the scheduling of multiple tasks with pre-determined deadlines under random processing cost. This problem is motivated by the potential of large scale adoption of plug-in (hybrid) electric vehicles (PHEVs) in the near future.…
Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks…
This paper establishes a novel analytical approach to quantify robustness of scheduling and battery management for battery supported cyber-physical systems. A dynamic schedulability test is introduced to determine whether tasks are…
Maximizing network lifetime is a very challenging issue in routing protocol design for Mobile Ad-hoc NETworks (MANETs), since mobile nodes are powered by limited-capacity batteries. Furthermore, replacing or recharging batteries is often…
As the number of electric vehicles (EVs) significantly increases, the excessive charging demand of parked EVs in the charging station may incur an instability problem to the electricity network during peak hours. For the charging station to…
Mobile energy storage devices (MESDs) operate as medium- or large-sized batteries that can be loaded onto electric trucks and connected to charging stations to provide various ancillary services for distribution grids. This paper proposes a…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to make the robots resilient to failures. In particular, robots…
In this paper, we consider the problem of scheduling an application on a parallel computational platform. The application is a particular task graph, either a linear chain of tasks, or a set of independent tasks. The platform is made 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…