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

We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a…

Unmanned aerial vehicles (UAVs) have received plenty of attention due to their high flexibility and enhanced communication ability, nonetheless, the limited onboard energy restricts UAVs' application on persistent data collection missions…

Fundamental theory on battery-powered cyber-physical systems (CPS) calls for dynamic models that are able to describe and predict the status of processors and batteries at any given time. We believe that the idealized system of single…

Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…

Recently there has been a growing interest in industry and academia, regarding the use of wireless chargers to prolong the operational longevity of unmanned aerial vehicles (commonly knowns as drones). In this paper we consider a…

Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…

As electric vehicles (EVs) become central to decarbonization efforts, the need for uninterrupted power supply in time-critical logistics, particularly in medical transportation, poses unique challenges for power systems integration.…

Robotic manipulator applications often require efficient online motion planning. When completing multiple tasks, sequence order and choice of goal configuration can have a drastic impact on planning performance. This is well known as the…

We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task. By performing tasks on-the-move, overall cycle time is reduced compared to methods…

This paper studies optimal thermal management and charging of a battery electric vehicle driving over long distance trips. The focus is on the potential benefits of including a heat pump in the thermal management system for waste heat…

Satisfiability modulo theory (SMT) consists in testing the satisfiability of first-order formulas over linear integer or real arithmetic, or other theories. In this survey, we explain the combination of propositional satisfiability and…

Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…

We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…

This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…

Satisfiability Modulo Theory (SMT) has recently emerged as a powerful tool for solving various automated reasoning problems across diverse domains. Unlike traditional satisfiability methods confined to Boolean variables, SMT can reason on…

We develop a new algorithm for scheduling the charging process of a large number of electric vehicles (EVs) over a finite horizon. We assume that EVs arrive at the charging stations with different charge levels and different flexibility…

Complying with traffic rules is challenging for automated vehicles, as numerous rules need to be considered simultaneously. If a planned trajectory violates traffic rules, it is common to replan a new trajectory from scratch. We instead…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

Recently, as the demand for cleaning robots has steadily increased, therefore household electricity consumption is also increasing. To solve this electricity consumption issue, the problem of efficient path planning for cleaning robot has…

Wireless rechargeable sensor networks, consisting of sensor nodes with rechargeable batteries and mobile chargers to replenish their batteries, have gradually become a promising solution to the bottleneck of energy limitation that hinders…