相关论文: $\epsilon^*$+: An Online Coverage Path Planning Al…

High-powered electric vehicle (EV) charging can significantly increase charging costs due to peak-demand charges. This paper proposes a novel charging algorithm which exploits typically long plugin sessions for domestic chargers and reduces…

The utilization of Unmanned Ground Vehicles (UGVs) for patrolling industrial sites has expanded significantly. These UGVs typically are equipped with perception systems, e.g., computer vision, with limited range due to sensor limitations or…

With recent advancements in the field of communications and the Internet of Things, vehicles are becoming more aware of their environment and are evolving towards full autonomy. Vehicular communication opens up the possibility for…

In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…

We study the energy-optimal shortest path problem for electric vehicles (EVs) in large-scale road networks, where recuperated energy along downhill segments introduces negative energy costs. While traditional point-to-point pathfinding…

Electric trucks are increasingly deployed to reduce the trucking sector's carbon footprint, but their limited range and charging needs create operational challenges on mid- to long-haul routes. Truck platooning can mitigate range anxiety…

Ride-pooling services, such as UberPool and Lyft Shared Saver, enable a single vehicle to serve multiple customers within one shared trip. Efficient path-planning algorithms are crucial for improving the performance of such systems. For…

We study the problem of the Unmanned Aerial Vehicle (UAV) such that a specific set of objects needs to be observed while ensuring a quality of observation. Our goal is to determine the shortest path for the UAV. This paper proposes an…

The advent of vehicle autonomy, connectivity and electric powertrains is expected to enable the deployment of Autonomous Mobility-on-Demand systems. Crucially, the routing and charging activities of these fleets are impacted by the design…

This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…

We study the feasibility of using electric vehicles in online, high-capacity ridepooling systems. Prior work has shown that online algorithms perform well for centrally-controlled, high-capacity ridepool systems. First, we propose a mixed…

This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…

The land used for grazing cattle takes up about one-third of the land in the United States. These areas can be highly rugged. Yet, they need to be maintained to prevent weeds from taking over the nutritious grassland. This can be a daunting…

Power systems are increasingly operated in corrective rather than preventive security mode, which means that appropriate control actions must be taken immediately after a contingency has occurred. This paper proposes an online algorithm for…

Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…

Electric vehicles (EVs) play a significant role in enhancing the sustainability of transportation systems. However, their widespread adoption is hindered by inadequate public charging infrastructure, particularly to support long-distance…

Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields,…

Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally demanding, preventing their use online. In this paper, we…

We study electric vehicle (EV) fleet and charging infrastructure planning in a spatial setting. With customer requests arriving continuously at rate $\lambda$ throughout the day, we determine the minimum number of vehicles and chargers for…

This paper presents an online trajectory planning approach for optimal coordination of Fuel Cell (FC) and battery in plug-in Hybrid Electric Vehicle (HEV). One of the main challenges in energy management of plug-in HEV is generating…