相关论文: Mobile Recharger Path Planning and Recharge Schedu…

We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…

We study a real-time smart charging algorithm for electric vehicles (EVs) at a workplace parking lot in order to minimize electricity cost from time-of-use electricity rates and demand charges while ensuring that the owners of the EVs…

Battery-free sensor networks have emerged as a promising solution to conquer the lifetime limitation of battery-powered systems. In this paper, we study a sensor network built from battery-free sensor nodes which harvest energy from radio…

A Robotic Mobile Fulfillment System is a robotised parts-to-picker system that is particularly well-suited for e-commerce warehousing. One distinguishing feature of this type of warehouse is its high storage modularity. Numerous robots are…

This work presents an approach for robots to suitably carry out complex applications characterized by the presence of multiple additional constraints or subtasks (e.g. obstacle and self-collision avoidance) but subject to redundancy…

Different from existing MOT (Multi-Object Tracking) techniques that usually aim at improving tracking accuracy and average FPS, real-time systems such as autonomous vehicles necessitate new requirements of MOT under limited computing…

In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…

We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…

Accurate prediction of battery state of charge is needed for autonomous robots to plan movements without using up all available power. This work develops a physics and data-informed model from a simulation that predicts SOC depletion as a…

Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…

In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…

This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…

Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks…

Transit agencies that operate battery-electric buses must carefully manage fast-charging infrastructure to extend daily bus range without degrading on-time performance. To support this need, we propose a mixed-integer linear programming…

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…

Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…

Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are…

State machines are a common model for robot behaviors. Transition functions often rely on parameterized conditions to model preconditions for the controllers, where the correct values of the parameters depend on factors relating to the…

We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…

This work is inspired by the problem of planning sequences of operations, as welding, in car manufacturing stations where multiple industrial robots cooperate. The goal is to minimize the station cycle time, \emph{i.e.} the time it takes…