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Path planning in robotics often involves solving continuously valued, high-dimensional problems. Popular informed approaches include graph-based searches, such as A*, and sampling-based methods, such as Informed RRT*, which utilize informed…
Mobility-on-Demand (MoD) services have been an active research topic in recent years. Many studies focused on developing control algorithms to supply efficient services. To cope with a large search space to solve the underlying vehicle…
In this work, we consider a multi-wheeled payload transport system. Each of the wheels can be selectively actuated. When they are not actuated, wheels are free moving and do not consume battery power. The payload transport system is modeled…
A massive use of electric vehicles is nowadays considered to be a key element of a sustainable transportation policy and the availability of charging stations is a crucial issue for their extensive use. Charging stations in an urban area…
We study the problem of planning routes in road networks when certain streets or areas are closed at certain times. For heavy vehicles, such areas may be very large since many European countries impose temporary driving bans during the…
Electric road systems (ERS) are roads that allow compatible vehicles to be powered by grid electricity while in transit, reducing the need for stopping to recharge electric batteries. We investigate how this technology can affect routing…
This document presents the study of the problem of location and trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve location and trajectory estimation in an autonomous mobile differential robot. The…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
In recent years, the demand for customized, on-demand production has grown in the manufacturing sector. Additive Manufacturing (AM) has emerged as a promising technology to enhance customization capabilities, enabling greater flexibility,…
Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
This paper focuses on the energy-time optimal control of wheeled mobile robots undergoing point-to-point transitions in an obstacles free space. Two interchangeable models are used to arrive at the necessary conditions for optimality. The…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
Almost all optimization algorithms have algorithm-dependent parameters, and the setting of such parameter values can largely influence the behaviour of the algorithm under consideration. Thus, proper parameter tuning should be carried out…
Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
We address the problem of simultaneously estimating arc travel times in a network \emph{and} parameters of route choice models for strategic and tactical network planning purposes. Hitherto, these interdependent tasks have been approached…
Energy efficient navigation constitutes an important challenge in electric vehicles, due to their limited battery capacity. We employ a Bayesian approach to model the energy consumption at road segments for efficient navigation. In order to…
We consider the visual feature selection to improve the estimation quality required for the accurate navigation of a robot. We build upon a key property that asserts: contributions of trackable features (landmarks) appear linearly in the…