相关论文: Optimal Path Planning for Wheel Loader Automation …
In this paper, we present the mathematical formulation of an OpenStreetMaps (OSM) based tool that compares the costs and emissions of long-haul medium and heavy-duty (M&HD) electric and diesel freight trucks, and determines the spatial…
This paper mainly studies the accurate height jumping control of wheeled-bipedal robots based on torque planning and energy consumption optimization. Due to the characteristics of underactuated, nonlinear estimation, and instantaneous…
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the environment as a voxelized Euclidean distance field, where…
This paper presents and evaluates the performance of an optimal scheduling algorithm that selects the on/off combinations and timing of a finite set of dynamic electric loads on the basis of short term predictions of the power delivery from…
CAFEs (Collaborative Agricultural Floating End-effectors) is a new robot design and control approach to automating large-scale agricultural tasks. Based upon a cable driven robot architecture, by sharing the same roller-driven cable set…
Trajectory planning in automated driving typically focuses on satisfying safety and comfort requirements within the vehicle's onboard sensor range. This paper introduces a method that leverages anticipatory road data, such as speed limits,…
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…
Mobile-edge computing (MEC) has emerged as a prominent technique to provide mobile services with high computation requirement, by migrating the computation-intensive tasks from the mobile devices to the nearby MEC servers. To reduce the…
Battery electric freight trains are crucial for decarbonization by providing zero-emission transportation alternatives. The proper adoption of battery electric freight trains depends on an efficient battery electrification strategy,…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
Advances in precision agriculture greatly rely on innovative control and sensing technologies that allow service units to increase their level of driving automation while ensuring at the same time high safety standards. This paper deals…
The four-wheel independent drive and four-wheel independent steering (4WID-4WIS) configurations enhance control flexibility and dynamic performance potential for more integrated electric vehicles. This paper comprehensively analyzes the…
We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for a complex robotic system carrying two articulated…
Databricks job orchestration systems (e.g., LeJOT) reduce cloud costs by selecting low-priced compute configurations while meeting latency and dependency constraints. Accurate execution-time prediction under heterogeneous instance types and…
This work presents a deep reinforcement learning-based approach to train controllers for the autonomous loading of ore piles with a Load-Haul-Dump (LHD) machine. These controllers must perform a complete loading maneuver, filling the LHD's…
A mobility map, which provides maximum achievable speed on a given terrain, is essential for path planning of autonomous ground vehicles in off-road settings. While physics-based simulations play a central role in creating next-generation,…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
In mineral processing plants, grinding is a crucial step, accounting for approximately 50 percent of the total mineral processing costs. Semi-autogenous grinding mills are extensively employed in the grinding circuit of mineral processing…