相关论文: $\epsilon^*$+: An Online Coverage Path Planning Al…
This paper addresses the path planning problems for recommending parking spaces, given the difficulties of identifying the most optimal route to vacant parking spaces and the shortest time to leave the parking space. Our optimization…
This paper presents a modeling and design optimization framework for an Electric Autonomous Mobility-on-Demand system that allows for ride-pooling, i.e., multiple users can be transported at the same time towards a similar direction to…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
This paper proposes a control-oriented optimization platform for autonomous mobile robots (AMRs), focusing on extending battery life while ensuring task completion. The requirement of fast AMR task planning while maintaining minimum battery…
Provenance embedding algorithms are well known for tracking the footprints of information flow in wireless networks. Recently, low-latency provenance embedding algorithms have received traction in vehicular networks owing to strict…
This paper proposes a distributed optimization-based algorithm for electric vehicle (EV) charging and discharging, incorporating EV customer economics and distribution network constraints enforced on an unbalanced distribution grid.…
The goal of this project is to determine the feasibility of calculating a travel route for an electric vehicle (EV) that will require the least amount of energy for the trip, and thus extending the range of the EV. To achieve this goal, the…
To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object…
This paper studies the joint fleet sizing and charging system planning problem for a company operating a fleet of autonomous electric vehicles (AEVs) for passenger and goods transportation. Most of the relevant published papers focus on…
In this paper, we study an online charge scheduling strategy for fleets of autonomous-mobility-on-demand electric vechicles (AMoD EVs). We consider the case where vehicles complete trips and then enter a between-ride state throughout the…
Unmanned Aerial Vehicles (UAVs) are becoming increasingly useful for tasks which require the acquisition of data over large areas. The coverage problem, i.e., the problem of periodically visiting all subregions of an area at a desired…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
Adaptive charging can charge electric vehicles (EVs) at scale cost effectively, despite the uncertainty in EV arrivals. We formulate adaptive EV charging as a feasibility problem that meets all EVs' energy demands before their deadlines…
Urban mobility systems are transitioning toward electric, on-demand services, creating operational challenges for fleet management under energy and service-quality constraints. The Electric Dial-a-Ride Problem (E-DARP) extends the classical…
With recent advances in battery technology and the resulting decrease in the charging times, public charging stations are becoming a viable option for Electric Vehicle (EV) drivers. Concurrently, wide-spread use of location-tracking devices…
This paper presents a framework for optimizing the power allocation between a battery and supercapacitor in an electric vehicle energy storage system. A convex optimal control formulation is proposed that minimizes total energy consumption…
Power system restoration after a major blackout is a complex process, in which selection of energising paths is a key issue to realize unit and load restoration safely and efficiently. In general, the energising path scheme made beforehand…
Due to the rapid development of Internet of Things (IoT) technologies, many online web apps (e.g., Google Map and Uber) estimate the travel time of trajectory data collected by mobile devices. However, in reality, complex factors, such as…
Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free, asymptotically optimal path regardless of obstacle's geometry in a given environment.…