Related papers: Reachable-Set Decomposition for Real-Time Aggregat…
The gradual decommissioning of fossil fuel-driven power plants, that traditionally provide most operational flexibility in power systems, has led to more frequent grid stability issues. To compensate for the lack of flexible resources,…
Integration of various electricity-generating technologies (such as natural gas, wind, nuclear, etc.) with storage systems (such as thermal, battery electric, hydrogen, etc.) has the potential to improve the economic competitiveness of…
As the amount of used home appliances is expected to increase despite the decreasing labor force in Japan, there is a need to automate disassembling processes at recycling plants. The automation of disassembling air conditioner outdoor…
Aggregated flexibilities or PQ-capabilities (active and reactive power capabilities) are termed in literature as Feasible Operating Regions (FORs). The FORs from underlying active distribution grids can effectively contribute to the…
Maintaining instantaneous balance between electricity supply and demand is critical for reliability and grid instability. System operators achieve this through solving the task of Unit Commitment (UC),ca high dimensional large-scale…
In this report, we aim at the development of an online abstraction framework for multi-agent systems under coupled constraints. The motion capabilities of each agent are abstracted through a finite state transition system in order to…
Assemble-to-order approaches deal with randomness in demand for end items by producing components under uncertainty, but assembling them only after demand is observed. Such planning problems can be tackled by stochastic programming, but…
As chip-to-chip silicon photonics gain traction for their bandwidth and energy efficiency, their circuit-switched nature raises a fundamental question for collective communication: when and how should the interconnect be reconfigured to…
Decarbonization provides new opportunities to plan energy systems for improved health, resilience, equity, and environmental outcomes, but challenges in siting and social acceptance of transition goals and targets threaten progress.…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
Future systems based on nano-scale devices will provide great potentials for scaling up in system complexity, yet they will be highly susceptible to operational faults. While spare units can be generally used to enhance reliability, they…
Despite various efforts, decarbonizing the heating sector remains a significant challenge. To tackle it by smart planning, the availability of highly resolved heating demand data is key. Several existing models provide heating demand only…
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and motion planning (TAMP) methods, while effective in this…
When simultaneous wireless information and power transfer is carried out, a fundamental tradeoff between achievable rate and harvested energy exists because the received power is used for two different purposes. The tradeoff is well…
This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…
The short-term operation of a power system is usually planned by solving a day-ahead unit commitment problem. Due to historical reasons, the commitment of the power generating units is decided over a time horizon typically consisting of the…
As robotics technology advances, dense point cloud maps are increasingly in demand. However, dense reconstruction using a single unmanned aerial vehicle (UAV) suffers from limitations in flight speed and battery power, resulting in slow…
We present an efficient task and motion replanning approach for sequential multi-object manipulation in dynamic environments. Conventional Task And Motion Planning (TAMP) solvers experience an exponential increase in planning time as the…
In this paper, we consider the problem of distributed reachable set computation for multi-agent systems (MASs) interacting over an undirected, stationary graph. A full state-feedback control input for such MASs depends no only on the…
The implementation feasibility of control algorithms over very large-scale networks calls for hard constraints regarding communication, computational, and memory requirements. In this paper, the decentralized receding horizon control…