Related papers: Semi-analytical Approach to Trajectory Optimizatio…
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks…
In this paper, a sampling-based trajectory planning algorithm for a laboratory-scale 3D gantry crane in an environment with static obstacles and subject to bounds on the velocity and acceleration of the gantry crane system is presented. The…
The integration of large shares of electricity produced by non-dispatchable Renewable Energy Sources (RES) leads to an increasingly volatile energy generation side, with temporary local overproduction. The application of energy storage…
In modern rail transportation, energy-efficient train control (EETC) is concerned with the optimal train speed trajectory or control strategies to achieve the minimum energy cost under various operation and traction constraints. This paper…
The emergence of connected and automated vehicles (CAVs) provides an unprecedented opportunity to capitalize on these technologies well beyond their original designed intents. While abundant evidence has been accumulated showing substantial…
The energy use of a robot is trajectory-dependent, and thus can be reduced by optimization of the trajectory. Current methods for robot trajectory optimization can reduce energy up to 15\% for fixed start and end points, however their use…
Trajectory optimization of a robot manipulator consists of both optimization of the robot movement as well as optimization of the robot end-effector path. This paper aims to find optimum movement parameters including movement type, speed,…
In the realm of urban transportation, metro systems serve as crucial and sustainable means of public transit. However, their substantial energy consumption poses a challenge to the goal of sustainability. Disturbances such as delays and…
Trajectory optimization is a fundamental stochastic optimal control problem. This paper deals with a trajectory optimization approach for dynamical systems subject to measurement noise that can be fitted into linear time-varying stochastic…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
In order to manage electricity transmission and distribution it is now common practice for system operators to offer financial incentives that encourage large consumers to reduce energy usage during designated peak demand periods. For train…
The energetic efficiencies of rocked ratchets reported in the literature typically lie in the sub-percent range. We discuss the problem of optimization of the energetic efficiency of a ratchet, and show that considerably higher efficiencies…
For unmanned aerial vehicle (UAV) trajectory design, the total propulsion energy consumption and initial-final location constraints are practical factors to consider. However, unlike traditional offline designs, these two constraints are…
Achieving energy-efficient trajectory planning for autonomous driving remains a challenge due to the limitations of model-agnostic approaches. This study addresses this gap by introducing an online nonlinear programming trajectory…
Low-thrust trajectory design relies heavily on repeated evaluations of fuel consumption and transfer feasibility, which require expensive optimal control solutions. In this work, we show these quantities can be accurately approximated by…
The rising energy demands of machine learning (ML), e.g., implemented in popular variants like retrieval-augmented generation (RAG) systems, have raised significant concerns about their environmental sustainability. While previous research…
Time-jerk optimal trajectory planning is crucial in advancing robotic arms' performance in dynamic tasks. Traditional methods rely on solving complex nonlinear programming problems, bringing significant delays in generating optimized…
This work deals with the solution of a non-convex optimization problem to enhance the performance of an energy harvesting device, which involves a nonlinear objective function and a discontinuous constraint. This optimization problem, which…
Economic model predictive control has been proposed as a means for solving the unit loading and unit allocation problem in multi-chiller cooling plants. The adjective economic stems from the use of financial cost due to electricity…
The vertical trajectory optimization for the en route descent phase is studied in the presence of both along track and cross winds, which are both modeled as functions of altitude. The flight range covers some portion of a cruise segment…