Related papers: The Persistent Robot Charging Problem for Long-Dur…
We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…
The resource recharging station location routing problem is a generalization of the location routing problem with sophisticated and critical resource consumption and recharging constraints. Based on a representation of discretized acyclic…
This work optimizes a lithium-ion battery charging schedule while considering a joint revenue and battery degradation model. The study extends the work of Meheswari et. al. to encourage battery usage/charging at optimal intervals depending…
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…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
Given a heterogeneous group of robots executing a complex task represented in Linear Temporal Logic, and a new set of tasks for the group, we define the task update problem and propose a framework for automatically updating individual robot…
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…
We consider the problem of optimal charging/discharging of a bank of heterogenous battery units, driven by stochastic electricity generation and demand processes. The batteries in the battery bank may differ with respect to their…
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…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
We consider joint energy storage management and load scheduling at a residential site with integrated renewable generation. Assuming unknown arbitrary dynamics of renewable source, loads, and electricity price, we aim at optimizing the load…
This paper proposes a control-oriented optimization platform for autonomous mobile robots (AMRs), focusing on extending battery life while ensuring task completion. The requirement of fast AMR task planning while maintaining minimum battery…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
This work focuses on exact methods for a Simultaneous Vehicle Routing and Crew Scheduling Problem in long-haul transport. Pickup-and-delivery requests with time windows must be fullfiled over a multi-day planning horizon. Unlike some…
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…
This paper addresses a fuel-constrained, autonomous vehicle path planning problem in the presence of multiple refueling stations. We are given a set of targets, a set of refueling stations, and a depot where $m$ vehicles are stationed. The…
There is a growing interest in using electric vehicles (EVs) and drones for many applications. However, battery-oriented issues, including range anxiety and battery degradation, impede adoption. Battery swap stations are one alternative to…
Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…
We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion rates, due to their varying sizes, speeds, capabilities, and…