相关论文: Multi-Agent Coverage Control with Energy Depletion…
In this paper, we study the problem of coverage of an environment with an energy-constrained robot in the presence of multiple charging stations. As the robot's on-board power supply is limited, it might not have enough energy to cover all…
We consider an investor who wants to select her/his optimal consumption, investment and insurance policies. Motivated by new insurance products, we allow not only the financial marke but also the insurable loss to depend on the regime of…
This paper investigates a distributed optimization problem under edge agreements, where each agent in the network is also subject to local convex constraints. Generalized from the concept of consensus, a group of edge agreements represents…
In this paper, we propose a control framework for a battery energy storage system to provide simultaneously multiple services to the electrical grid. The objective is to maximise the battery exploitation from these services in the presence…
A mobile manipulator often finds itself in an application where it needs to take a close-up view before performing a manipulation task. Named this as a coupled active perception and manipulation (CAPM) problem, we model the uncertainty in…
Currently, the characterization of electric energy storage units used for power system operation and planning models relies on two major assumptions: charge and discharge efficiencies, and power limits are constant and independent of the…
As an emerging mode of urban transportation, Autonomous Mobility-on-Demand (AMoD) systems show the potential in improving mobility in cities through timely and door-to-door services. However, the spatiotemporal imbalances between mobility…
This paper is focused on the mathematical modeling and solution of the optimal charging of a large population of identical plug-in electric vehicles (PEVs) with mixed state variables (continuous and discrete). A mean field assumption is…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such an aerial robot is envisioned for use in an urban setting…
The kinetic battery model is a popular model of the dynamic behavior of a conventional battery, useful to predict or optimize the time until battery depletion. The model however lacks certain obvious aspects of batteries in-the-wild,…
In modern networks, the use of drones as mobile base stations (MBSs) has been discussed for coverage flexibility. However, the realization of drone-based networks raises several issues. One of the critical issues is drones are extremely…
Electrified shared mobility services need to handle charging infrastructure planning and manage their daily charging operations to minimize total charging operation time and cost. However, existing studies tend to address these problems…
This paper addresses the problem of optimal scheduling of an aggregated power profile (during a coordinated discharging or charging operation) by means of a heterogeneous fleet of storage devices subject to availability constraints. Devices…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…
A k-order coverage control problem is studied where a network of agents must deploy over a desired area. The objective is to deploy all the agents in a decentralized manner such that a certain coverage performance metric of the network is…
Electric Vehicle (EV) has become a preferable choice in the modern transportation system due to its environmental and energy sustainability. However, in many large cities, EV drivers often fail to find the proper spots for charging, because…
In this paper, we consider the network utility maximization problem with various user priorities via jointly optimizing user association, load distribution and power control in a load-coupled heterogeneous network. In order to tackle the…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
The prediction of battery rate performance traditionally relies on computation-intensive numerical simulations. While simplified analytical models have been developed to accelerate the calculation, they usually assume battery performance to…