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Cable-Driven Parallel Robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
The flight time of multirotor unmanned aerial vehicles (UAVs) is typically constrained by their high power consumption. Tethered power systems present a viable solution to extend flight times while maintaining the advantages of multirotor…
Cooperative energy recycling (CER) offers a new way to boost energy utilization in wireless-powered multi-access edge computing (MEC) networks, yet its integration with computation-communication co-design remains underexplored. This paper…
As the electrification process advances, enormous power flexibility is becoming available on the demand side, which can be harnessed to facilitate power system decarbonization. Hence, this paper studies the carbon-aware demand response…
This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
This study aims to develop a cost-effective microgrid design that optimally balances the economic feasibility, reliability, efficiency, and environmental impact in a grid-tied community microgrid. A multi-objective optimization framework is…
C2CNT (Carbon dioxide to carbon nanotube) cement plants have been introduced and analyzed which provide a significant economic incentive to eliminate the massive CO2 greenhouse gas emissions of current plants and serves as a template for…
We study the carbon footprint optimization (CFO) of a heavy-duty e-truck traveling from an origin to a destination across a national highway network subject to a hard deadline, by optimizing path planning, speed planning, and intermediary…
We present a modeling and optimization framework to design powertrains for a family of electric vehicles, focusing on the concurrent sizing of their motors and batteries. Whilst tailoring these component modules to each individual vehicle…
Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape.…
This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control,…
We present an algorithm for computing a maximum agreement subtree of two unrooted evolutionary trees. It takes O(n^{1.5} log n) time for trees with unbounded degrees, matching the best known time complexity for the rooted case. Our…
The optimal design of robotic actuators is a critical area of research, yet limited attention has been given to optimizing gearbox parameters and automating actuator CAD. This paper introduces COMPAct: Computational Optimization and…
Collaborative transportation of cable-suspended payloads by teams of Unmanned Aerial Vehicles (UAVs) has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in compliance, making it attractive for…
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinodynamic, i.e., it considers the full dynamics model of the…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…
The share of electronically converted power from renewable sources, loads, and storage is continuously growing in the low- and medium-voltage grids. These sources and loads typically rectify the grid AC to DC, e.g., for a DC link, so that a…