相关论文: Robust Optimal Task Planning to Maximize Battery L…
This paper proposes an optimization framework that addresses both cycling degradation and calendar aging of batteries for autonomous mobile robot (AMR) to minimize battery degradation while ensuring task completion. A rectangle method of…
Autonomous mobile robot fleets must coordinate task allocation and charging under limited shared resources, yet most battery aware planning methods address only a single robot. This paper extends degradation cost aware task planning to a…
This paper presents a framework for optimizing the power allocation between a battery and supercapacitor in an electric vehicle energy storage system. A convex optimal control formulation is proposed that minimizes total energy consumption…
In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by ensuring that the energy stored in the batteries of the…
This paper addresses the problem of managing rotational load shedding schedules for a power distribution network with multiple load zones. An integer optimization problem is formulated to find the optimal number and duration of planned…
This paper investigates the optimization problem of scheduling autonomous mobile robots (AMRs) in hospital settings, considering dynamic requests with different priorities. The primary objective is to minimize the daily service cost by…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a real dual-agent platform that integrates task decomposition and…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
Urban Air Mobility (UAM) aims to expand existing transportation networks in metropolitan areas by offering short flights either to transport passengers or cargo. Electric vertical takeoff and landing aircraft powered by lithium-ion battery…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…
We consider the problem of max-min beamforming (MMB) for cell-free massive multi-input multi-output (MIMO) systems, where the objective is to maximize the minimum achievable rate among all users. Existing MMB methods are mainly based on…
Unmanned aerial vehicles (UAVs), commonly known as drones, are being increasingly deployed throughout the globe as a means to streamline monitoring, inspection, mapping, and logistic routines. When dispatched on autonomous missions, drones…
This paper introduces a novel formulation aimed at determining the optimal schedule for recharging a fleet of $n$ heterogeneous robots, with the primary objective of minimizing resource utilization. This study provides a foundational…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
We consider the task of controlling a battery while balancing two competing objectives that evolve over different time scales. The short-term objective, such as arbitrage or load smoothing, improves with more battery cycling, while the…