相关论文: Demonstrating efficiency gains from installing tru…
Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to…
Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads to geologically rich yet hazardous landing sites. At the…
Transmission topology control is a tool used by system operators in the role of a control action taken into account as a preventive or corrective action relative to a specific outage or set of outages. However, their inclusion in most…
Modularity is appealing for solving many problems in optimization. It brings the benefits of manufacturability and reconfigurability to structural optimization, and enables a trade-off between the computational performance of a Periodic…
Digital Twins have been described as beneficial in many areas, such as virtual commissioning, fault prediction or reconfiguration planning. Equipping Digital Twins with artificial intelligence functionalities can greatly expand those…
Robots are ideal for open-pit mining on the Moon as its a dull, dirty, and dangerous task. The challenge is to scale up productivity with an ever-increasing number of robots. This paper presents a novel method for developing scalable…
While Clifford operations are relatively easy to implement in fault-tolerant quantum computers,continuous rotation gates remain a significant bottleneck in typical quantum algorithms. In this work, we ask the question: "What is the most…
Planning safe paths is a major building block in robot autonomy. It has been an active field of research for several decades, with a plethora of planning methods. Planners can be generally categorised as either trajectory optimisers or…
This paper studies a multi-fleet platoon coordination system in transport networks that deploy hubs to form trucks into platoons. The trucks belong to different fleets that are interested in increasing their profits by platooning across…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
An essential consideration in urban transit facility planning is service efficiency and accessibility. Previous research has shown that reducing the number of facilities along a route may increase efficiency but decrease accessibility.…
Drift control is significant to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow. It is a challenging control problem due to the presence of significant sideslip and…
This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…
Topology optimization produces designs with intricate geometries and complex topologies that require advanced manufacturing techniques such as additive manufacturing (AM). However, insufficient consideration of manufacturability during the…
In this article we look at the potential of cloud containers and we provide some guidelines for companies and organisations that are starting to look at how to migrate their legacy infrastructure to something modern, reliable and scalable.…
This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero…
Mine planning is a complex task that involves many uncertainties. During early stage feasibility, available mineral resources can only be estimated based on limited sampling of ore grades from sparse drilling, leading to large uncertainty…
A central challenge in the design of energy-efficient wind farms is the presence of wake effects between turbines. When a wind turbine harvests energy from free wind, it produces a turbulent region with reduced energy for downstream…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
Tasks in outdoor open world environments are now ripe for automation with mobile manipulators. The dynamic, unstructured and unknown environments associated with such tasks -- a prime example would be collecting roadside trash -- makes them…