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The Mining industry considers the deployment of MAV for autonomous inspection of tunnels and shafts to increase safety and productivity. However, mines are challenging and harsh environments that have a direct effect on the degradation of…
The vertical alignment optimization problem in road design seeks the optimal vertical alignment of a road at minimal cost, taking into account earthwork while meeting all safety and design requirements. In recent years, modelling techniques…
Proof-of-work computation used in cryptocurrencies has witnessed significant growth in the U.S. and many other regions around the world. One of the most significant bottlenecks for the scalable deployment of such computation is its energy…
Designing a local planner to control tractor-trailer vehicles in forward and backward maneuvering is a challenging control problem in the research community of autonomous driving systems. Considering a critical situation in the stability of…
Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…
Autonomy and connectivity are considered among the most promising technologies to improve safety, mobility, fuel and time consumption in transportation systems. Some of the fuel efficiency benefits of connected and automated vehicles (CAVs)…
In this work, we propose an optimization-based trajectory planner for tractor-trailer vehicles on curvy roads. The lack of analytical expression for the trailer's errors to the center line pose a great challenge to the trajectory planning…
Robots are increasingly being deployed in agriculture to support sustainable practices and improve productivity. They offer strong potential to enable precise, efficient, and environmentally friendly operations. However, most existing…
Parking in large metropolitan areas is often a time-consuming task with further implications toward traffic patterns that affect urban landscaping. Reducing the premium space needed for parking has led to the development of automated…
Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…
The availability of massive vehicle trajectory data enables the modeling of road-network constrained movement as travel-cost distributions rather than just single-valued costs, thereby capturing the inherent uncertainty of movement and…
Differential drive mobile robots often use one or more caster wheels for balance. Caster wheels are appreciated for their ability to turn in any direction almost on the spot, allowing the robot to do the same and thereby greatly simplifying…
Many kinds of industrial projects involve the use of prefabricated modules built offsite, and installation on-site using mobile cranes. Due to their costly operation and safety concerns, utilization of such heavy lift mobile cranes requires…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
Research on container loading problems has been proved effective in increasing the filling rate of containers in different practical situations. However, the broader logistic context might pressure the loading process, leading to…
Job rotation is a managerial practice to be applied in the organizational environment to reduce job monotony, boredom, and exhaustion resulting from job simplification, specialization, and repetition. Previous studies have identified and…
Hall effect thrusters are one of the most versatile and popular electric propulsion systems for space use. Industry trends towards interplanetary missions arise advances in design development of such propulsion systems. It is understood…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
Mine fleet management algorithms can significantly reduce operational costs and enhance productivity in mining systems. Most current fleet management algorithms are evaluated based on self-implemented or proprietary simulation environments,…
Efficient material logistics play a critical role in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a…