相关论文: Sample-efficient Gear-ratio Optimization for Biome…

Informed sampling techniques accelerate the convergence of sampling-based motion planners by biasing sampling toward regions of the state space that are most likely to yield better solutions. However, when the current solution path contains…

This work proposes a learning method to accelerate robotic pick-and-place planning by predicting shared grasps. Shared grasps are defined as grasp poses feasible to both the initial and goal object configurations in a pick-and-place task.…

This paper proposes energy-efficient coordinated beamforming strategies for multi-cell multi-user multiple-input single-output system. We consider a practical power consumption model, where part of the consumed power depends on the base…

Piezoelectric Energy Harvesters (PEHs) are typically employed to provide additional source of energy for a sensing system. However, studies show that a PEH can be also used as a sensor to acquire information about the source of vibration by…

We study the problem of building a maximum lifetime data collection tree for periodic convergecast applications in wireless sensor networks. We experimentally observe that if two nodes transmit same number of data packets, the amount of…

The objective assessment of gait kinematics is crucial in evaluating human movement, informing clinical decisions, and advancing rehabilitation and assistive technologies. Assessing gait symmetry, in particular, holds significant importance…

In practical simultaneous information and energy transmission (SIET), the exact energy harvesting function is usually unavailable because an energy harvesting circuit is nonlinear and nonideal. In this work, we consider a SIET problem where…

Energy Harvesting technologies will play a fundamental role in the development of the next generation of electronic systems as well as in advancing the development of sustainable infrastructure. One of the critical challenges in EH is…

This paper analyzes the communication between two energy harvesting wireless sensor nodes. The nodes use automatic repeat request and forward error correction mechanism for the error control. The random nature of available energy and…

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…

Generative models have shown promising results in capturing human mobility characteristics and generating synthetic trajectories. However, it remains challenging to ensure that the generated geospatial mobility data is semantically…

In this thesis, we study the downlink multiuser scheduling and power allocation problem for systems with simultaneous wireless information and power transfer (SWIPT). In the first part of the thesis, we focus on multiuser scheduling. We…

The aim of this study is to give insights into the trajectory optimization w.r.t. energy consumption and recuperation for stacker cranes in a high-bay warehouse. Based on an analytical necessary optimality condition, a targeted numerical…

This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…

Transfer optimization enables data-efficient optimization of a target task by leveraging experiential priors from related source tasks. This is especially useful in multiobjective optimization settings where a set of trade-off solutions is…

This paper investigates resource allocation for simultaneous wireless information and power transfer (SWIPT) downlink systems based on a non-linear energy harvesting model. The resource allocation algorithm design is formulated as a…

Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…

Decisions for a variable renewable resource generators commitment in the energy market are typically made in advance when little information is obtainable about wind availability and market prices. Much research has been published…

In this paper, we develop an optimal weight adaptation strategy of model predictive control (MPC) for connected and automated vehicles (CAVs) in mixed traffic. We model the interaction between a CAV and a human-driven vehicle (HDV) as a…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…