Related papers: meSch: Multi-Agent Energy-Aware Scheduling for Tas…

Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…

Pulse charging can be used to boost up charging speed for lithium-ion batteries and delay battery capacity fading by periodically pausing the current during charging. However, this technique introduces intermittence for current and may thus…

Transit agencies that operate battery-electric buses must carefully manage fast-charging infrastructure to extend daily bus range without degrading on-time performance. To support this need, we propose a mixed-integer linear programming…

Wireless power charging enables portable devices to be permanently unplugged. Due to its low transmission power and low transmission efficiency, it requires much longer time slot to charge users compared with that for data transmission in…

Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…

Battery endurance represents a key challenge for long-term autonomy and long-range operations, especially in the case of aerial robots. In this paper, we propose AutoCharge, an autonomous charging solution for quadrotors that combines a…

Fundamental theory on battery-powered cyber-physical systems (CPS) calls for dynamic models that are able to describe and predict the status of processors and batteries at any given time. We believe that the idealized system of single…

Electric truck operations require routing decisions that remain feasible under limited battery range, long charging times, travel and energy consumption, and competition for shared charging infrastructure. These features make electric truck…

Autonomous navigation capabilities play a critical role in service robots operating in environments where human interactions are pivotal, due to the dynamic and unpredictable nature of these environments. However, the variability in human…

We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…

To schedule a large number of EVs with the presence of practical nonconvex charging constraints, a distributed and randomized algorithm is proposed in this paper. The algorithm assumes the availability of a coordinator which can communicate…

This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…

In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…

In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…

This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…

Efficiently solving path planning problems for a large number of robots is critical to the successful operation of modern warehouses. The existing approaches adopt classical shortest path algorithms to plan in environments whose cells are…

We study online task allocation for multi-robot, multi-queue systems with stochastic arrivals and switching delays. Time is slotted; each location can host at most one robot per slot; service consumes one slot; switching between locations…

This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…

The tie-line scheduling problem in a multi-area power system seeks to optimize tie-line power flows across areas that are independently operated by different system operators (SOs). In this paper, we leverage the theory of multi-parametric…