Related papers: meSch: Multi-Agent Energy-Aware Scheduling for Tas…
This paper studies the scheduling of a large population of non-preemptive flexible electric loads, each of which has a flexible starting time but once started will follow a fixed load shape until completion. We first formulate the…
We study a real-time smart charging algorithm for electric vehicles (EVs) at a workplace parking lot in order to minimize electricity cost from time-of-use electricity rates and demand charges while ensuring that the owners of the EVs…
In this work, we propose a method for multiple mobile robot motion planning that efficiently plans for robot teams up to 128 robots (an order of magnitude larger than existing state-of-the-art methods) in congested settings with narrow…
We develop an algorithm for synthesizing a spatial pattern of charging/discharging operations of in-vehicle batteries for provision of Ancillary Service (AS) in power distribution grids. The algorithm is based on the ODE (Ordinary…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
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…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Handling the ever-increasing complexity of mesh generation codes along with the intricacies of newer hardware often results in codes that are both difficult to comprehend and maintain. Different facets of codes such as thread management and…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
Mobile energy resources (MERs) have been shown to boost DS resilience effectively in recent years. In this paper, we propose a novel idea, the separable mobile energy storage system (SMESS), as an attempt to further extend the flexibility…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
With robots entering the world of Cyber Physical Systems (CPS), ordering the execution of allocated tasks during run-time becomes crucial. This is so because, in a real world, there can be several physical tasks that use shared resources…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
The dynamic adaptation of resource levels enables the system to enhance energy efficiency while maintaining the necessary computational resources, particularly in scenarios where workloads fluctuate significantly over time. The proposed…
A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level…
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…
In this work, we consider a multi-wheeled payload transport system. Each of the wheels can be selectively actuated. When they are not actuated, wheels are free moving and do not consume battery power. The payload transport system is modeled…
As an environment-friendly substitute for conventional fuel-powered vehicles, electric vehicles (EVs) and their components have been widely developed and deployed worldwide. The large-scale integration of EVs into power grid brings both…
Deploying heterogeneous robot teams to accomplish multiple tasks over extended time horizons presents significant computational challenges for task allocation and planning. In this paper, we present a comprehensive, time-extended, offline…
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…