Related papers: Energy Consumption in Robotics: A Simplified Model…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
The increasing computing demands of autonomous driving applications make energy optimizations critical for reducing battery capacity and vehicle weight. Current energy optimization methods typically target traditional real-time systems with…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
The energy demand of vehicles, particularly in unsteady drive cycles, is affected by complex dynamics internal to the engine and other powertrain components. Yet, in many applications, particularly macroscopic traffic flow modeling and…
As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where…
Future planetary exploration rovers must operate for extended durations on hybrid power inputs that combine steady radioisotope thermoelectric generator (RTG) output with variable solar photovoltaic (PV) availability. While energy-aware…
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…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…
Creating an appropriate energy consumption prediction model is becoming an important topic for drone-related research in the literature. However, a general consensus on the energy consumption model is yet to be reached at present. As a…
We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…
Mobile robots are increasingly being used to assist with active pursuit and law enforcement. One major limitation for such missions is the resource (battery) allocated to the robot. Factors like nature and agility of evader, terrain over…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
This paper presents a novel energy-efficient motion planning algorithm for Connected Autonomous Vehicles (CAVs) on urban roads. The approach consists of two components: a decision-making algorithm and an optimization-based trajectory…
In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a…
Position-controlled systems driving repetitive tasks are of significant importance in industrial machinery. The electric actuators used in these systems are responsible for a large part of the global energy consumption, indicating that…
Conventional energy production based on fossil fuels causes emissions which contribute to global warming. Accurate energy system models are required for a cost-optimal transition to a zero-emission energy system, an endeavor that requires…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…