相关论文: Mobile Recharger Path Planning and Recharge Schedu…
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…
The rapid expansion of electric vehicles (EVs) has rendered the load forecasting of electric vehicle charging stations (EVCS) increasingly critical. The primary challenge in achieving precise load forecasting for EVCS lies in accounting for…
The energy-efficient trip allocation of mobile robots employing differential drives for data retrieval from stationary sensor locations is the scope of this article. Given a team of robots and a set of targets (wireless sensor nodes), the…
Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…
In this work, we investigate task planning for mobile robots under linear temporal logic (LTL) specifications. This problem is particularly challenging when robots navigate in continuous workspaces due to the high computational complexity…
In most multi-robot systems, conditions of the floor, battery and mechanical parts are important and impact cost-efficiency. The costs are generally interpreted through performance times. The relation between performance times andthese…
Consider a set of $n$ mobile entities, called robots, located and operating on a continuous circle, i.e., all robots are initially in distinct locations on a circle. The \textit{gathering} problem asks to design a distributed algorithm that…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
The success of vehicle electrification relies on efficient and adaptable charging infrastructure. Fixed-location charging stations often suffer from underutilization or congestion due to fluctuating demand, while mobile chargers offer…
Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Temporal Logic (STL), a temporal logic widely used for…
Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
We develop a hybrid system model to describe the behavior of multiple agents cooperatively solving an optimal coverage problem under energy depletion and repletion constraints. The model captures the controlled switching of agents between…
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…
Mobility on demand (MoD) systems show great promise in realizing flexible and efficient urban transportation. However, significant technical challenges arise from operational decision making associated with MoD vehicle dispatch and fleet…
Supervisory-based human-robot teams are deployed in various dynamic and extreme environments (e.g., space exploration). Achieving high task performance in such environments is critical, as a mistake may lead to significant monetary loss or…
Emerging real-time multi-model ML (RTMM) workloads such as AR/VR and drone control involve dynamic behaviors in various granularity; task, model, and layers within a model. Such dynamic behaviors introduce new challenges to the system…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
Planning to support widespread transportation electrification depends on detailed estimates for the electricity demand from electric vehicles in both uncontrolled and controlled or smart charging scenarios. We present a modeling approach to…
Wide-area IoT sensor networks require efficient data collection mechanisms when sensors are dispersed over large regions with limited communication infrastructure. Unmanned aerial vehicle (UAV)-mounted Mobile Base Stations (MBSs) provide a…