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This paper presents a planning model for distribution systems considering various energy supply options such as distributed generation (DG), substations, and feeders. In addition, the impact of Plug-in-Electric Vehicle (PEV) uncontrolled and smart charging loads on the plan outcome is evaluated. A new optimal power flow (OPF) based optimization model is proposed to schedule PEV uncontrolled and smart...
In this paper, we present a motion planning algorithm for autonomous navigation in highly constrained urban environments. Since common approaches to on-road trajectory planning turned out to be unsuitable for this task, we instead extended an A*-based planner originally designed for navigation in unstructured environments. Two novel node expansion methods were added to obtain smooth and accurate trajectories...
Reversing with a dolly steered trailer configuration is a hard task for any driver without extensive training. In this work we present a motion planning and control framework that can be used to automatically plan and execute complicated manoeuvres. The unstable dynamics of the reversing general 2-trailer configuration with off-axle hitching is first stabilised by an LQ-controller and then a pure...
Automated driving is a safety critical process, which requires complex decision making. In order to validate driving decisions, it is possible to maintain at all times a contingency maneuver, which transfers the vehicle to a safe standstill, if other decision making processes fail. In this paper we present a motion planner, which computes contingency maneuvers for an automated vehicle in a 0.1[s]...
This paper examines a mission planning problem for a solar-powered unmanned ground vehicle (UGV) which requires the vehicle to visit a series of objective points in minimal time subject to a strict net-energy change constraint. Though related to the Traveling Salesperson Problem, the mission planning problem discussed herein imposes further complexity through additional coupled mixed-variable sets...
In the last decade, consumer electronic devices such as smartphones, are packaged with small cameras, gyroscopes, and accelerometers, all sensors allowing autonomous deployment of aerial robots in GPS-denied environments. Our previous work [1], demonstrated the feasibility of using smartphones for autonomous flight. In many applications, there is a large interest to the use multiple autonomous aerial...
This paper presents a robust motion planning methodology for autonomous tracked vehicles navigating in a rough and unknown environment. Two fields of study are dealt with in this paper: motion planning and slip estimation. For the motion planner, the CC-RRT* algorithm is combined with LQG-MP. The motion planner uses a chance-constrained approach and considers the role of compensator in the planning...
A fleet of electric buses can be a challenging load for power grids. This opens interesting opportunities for dialogue between power system design and electric bus route and concept development. A suite of cooperating tools was created to study this interaction, combining a power-grid-connection cost model, a route design and drawing tool, and a tool to simulate electric buses driving along the designed...
We collaborated with the Monterey Bay Aquarium Research Institute (MBARI) to improve the depth control algorithm used by the Dorado class autonomous underwater vehicle (AUV) in conducting bathymetric surveys and other remote sensing tasks. The algorithm enables better bottom following by planning for the depth profile that follows the desired depth best, while pulling up safely for bathymetry. The...
The paper describes the control system development of a novel hybrid autonomous vehicle - Aqua-Quad, a Multi-Rotor Vertical Take Off and Landing aircraft with environmentally hardened electronics, exchangeable sensor suite, communication links, and a solar recharge system. The key objective of this multi-modal autonomous system is to enable energy-aware ultra-long endurance autonomy to facilitate...
Planning routes, defined by a series of commanded waypoints between a start and goal location, for return-to-site missions using Autonomous Underwater Vehicles with Terrain Relative Navigation is particularly challenging due to the dependence of the navigation estimate on the path flown. Waypoints must be selected to ensure the vehicle has an accurate TRN navigation estimate to arrive at the intended...
This paper employs a computational optimal control framework to develop a mission planning tool for a team of heterogeneous unmanned vehicles conducting a nominal mine countermeasures (MCM) mission. We first describe our motivation for developing vehicle-specific sensor models for unmanned surface and underwater vehicles working collaboratively to detect mines. Next, we describe the sonar detection...
Motion planning for service robots used for human assistance in complex environments is a challenging task with multifaceted requirements. On the one hand, the generated path has to avoid obstacles and satisfy the user requirements. On the other, the generated path has to be perceived as comfortable by the user. An efficient solution to this difficult problem is based on a separation of concerns between...
ITIL is a large collection of best practices, tools and methods used in the management and handling of IT services. It's composed of five books related to the most important IT management fields. In this paper, we will place the emphasis on the Service Operation field in ITIL and more precisely, on the incident management process used for managing the life cycle of IT incidents. The main idea is to...
This paper proposes a discrete event model for controlling railway traffic in order to minimize transport time and, implicitly for optimizing fuel/energy consumption. We built a modular approach for solving the traffic coordination issue, respectively we built three Petri net models for modeling and simulating, respectively the transport planning process; the control of transport itinerary; and the...
In classical Vehicle Routing Problem, algorithms are developed based on travel distance or travel time estimated from an assumed constant travel speed. However, in city logistics, due to a growing amount of traffic and a limited capacity of the road network, travel speed between two locations no longer remains a constant but location and time dependent. In this paper, we propose a framework to visualize...
Modern automated systems need breakdown robustness, reorganizability and reconfigurability. These requirements are leading to the development of decentralized control solutions. However, the development of effective decentralized warehouse control systems is still a complex task. Cyber-Physical Systems are emerging as a promising technology for the design of a new kind of manufacturing systems. They...
Boosting trajectory planning is the basis of the gliding trajectory planning for land-launch hypersonic vehicle. Its terminal states are essential to subsequence flight. Besides, mobile launch is an important means to promote the survivability of hypersonic vehicle. To plan the boosting trajectory for hypersonic vehicle and satisfy the strict terminal constraints, firstly we analyzed and established...
This paper deals with the model of optimal maneuver of units and its implementation in the Tactical Decision Support System (TDSS). The model is designed to be used for planning the optimal movement of units (soldiers, vehicles, unmanned robots) on the battlefield. The paper is separated into three main parts. Firstly, the model of maneuver is discussed; it is divided into five independent layers:...
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