Related papers: Fleet-Level Battery-Health-Aware Scheduling for Au…
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…
Control of systems of automated guided vehicles involves action planning at many levels. For efficient control of these systems, accurate estimation of cost parameters (speed, energy, task completion performance, \textit{et~cetera} is…
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…
Operators who deploy large fleets of electric vehicles often face a challenging charge scheduling problem. Specifically, time-ineffective recharging operations limit the profitability of charging during service operations such that…
Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRT- based path-planning algorithm that addresses battery power management. A path is generated continuously from the robot's current…
We consider the task of controlling a battery while balancing two competing objectives that evolve over different time scales. The short-term objective, such as arbitrage or load smoothing, improves with more battery cycling, while the…
In this work, we present an algorithm for robot replacement to increase the operational time of a multi-robot payload transport system. Our system comprises a group of nonholonomic wheeled mobile robots traversing on a known trajectory. We…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…
The advent of vehicle autonomy, connectivity and electric powertrains is expected to enable the deployment of Autonomous Mobility-on-Demand systems. Crucially, the routing and charging activities of these fleets are impacted by the design…
We present an approximate dynamic programming framework for designing degradation-aware market participation policies for battery energy storage systems. The approach employs a tailored value function approximation that reduces the state…
Fast-charging of lithium-ion batteries is essential for electric vehicle adoption, but aggressive charging can accelerate its degradation and create safety risks. This study investigates a control framework that coordinates charging current…
With the climate change challenges, transport network companies started to electrify their fleet to reduce CO2 emissions. However, such an ecological transition brings new research challenges for dynamic electric fleet charging management…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such an aerial robot is envisioned for use in an urban setting…
Batteries play a key role in today's power grid. In this paper, we investigate the impact of battery degradation on the distribution network. We formulate a multi-objective framework for optimizing battery scheduling with the goals of…
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…
Lithium-ion batteries degrade due to usage and exposure to environmental conditions, which affects their capability to store energy and supply power. Accurately predicting the capacity and power fade of lithium-ion battery cells is…
Fuel cell electric vehicles have earned substantial attentions in recent decades due to their high-efficiency and zero-emission features, while the high operating costs remain the major barrier towards their large-scale commercialization.…
This paper presents a novel fleet management strategy for battery-powered robot fleets tasked with intra-factory logistics in an autonomous manufacturing facility. In this environment, repetitive material handling operations are subject to…
By informing accurate performance (e.g., capacity), health state management plays a significant role in safeguarding battery and its powered system. While most current approaches are primarily based on data-driven methods, lacking in-depth…