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Peters, L. (author), Bajcsy, Andrea (author), Chiu, Chih Yuan (author), Fridovich-Keil, David (author), Laine, Forrest (author), Ferranti, L. (author), Alonso-Mora, J. (author)Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty. In this work we take a game-theoretic perspective on contingency planning, tailored to multi-agent scenarios in which a robot's actions impact the...journal article 2024
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Wilde, N. (author), Alonso-Mora, J. (author)We study the problem of finding statistically distinct plans for stochastic task assignment problems such as online multi-robot pickup and delivery (MRPD) when facing multiple competing objectives. In many real-world settings robot fleets do not only need to fulfil delivery requests, but also have to consider auxiliary objectives such as...journal article 2024
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Trevisan, E. (author), Alonso-Mora, J. (author)Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-based MPC approaches, such as Model Predictive Path Integral (MPPI) control, have shown promise in addressing these complex motion planning problems....journal article 2024
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Xin, Jianbin (author), Wu, Xuwen (author), D'Ariano, Andrea (author), Negenborn, R.R. (author), Zhang, Fangfang (author)Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...journal article 2023
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Du, Guodong (author), Zou, Yuan (author), Zhang, Xudong (author), Li, Z. (author), Liu, Qi (author)The autonomous vehicle is widely applied in various ground operations, in which motion planning and tracking control are becoming the key technologies to achieve autonomous driving. In order to further improve the performance of motion planning and tracking control, an efficient hierarchical framework containing motion planning and tracking...journal article 2023
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Tao, W. (author), Zhu, Man (author), Chen, Shengyong (author), Cheng, Xu (author), Wen, Yuanqiao (author), Zhang, Weidong (author), Negenborn, R.R. (author), Pang, Y. (author)Vessels sailing in a single platoon could reduce resistance from the perspective of the whole platoon and the individual vessel, and contribute to improving energy benefits. Moreover, transportation energy costs and traffic efficiency are essential indicators for measuring waterborne transportation systems. We attempt to minimize...journal article 2023
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Ferranti, L. (author), Lyons, L. (author), Negenborn, R.R. (author), Keviczky, T. (author), Alonso-Mora, J. (author)This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its modified version to mitigate the effects of packet losses and delays in the communication among the robots. Our algorithms consider that each robot is equipped with an...journal article 2023
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Spahn, M. (author), Wisse, M. (author), Alonso-Mora, J. (author)Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to dynamic scenarios and nonholonomic robots and prove that fundamental properties can be conserved. We show...journal article 2023
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Botros, Alexander (author), Sadeghi, Armin (author), Wilde, N. (author), Alonso-Mora, J. (author), Smith, Stephen L. (author)Many problems in robotics seek to simultaneously optimize several competing objectives under constraints. A conventional approach to solving such multi-objective optimization problems is to create a single cost function comprised of the weighted sum of the individual objectives. Solutions to this scalarized optimization problem are Pareto...conference paper 2023
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Liu, Xinjie (author), Peters, L. (author), Alonso-Mora, J. (author)Many autonomous agents, such as intelligent vehicles, are inherently required to interact with one another. Game theory provides a natural mathematical tool for robot motion planning in such interactive settings. However, tractable algorithms for such problems usually rely on a strong assumption, namely that the objectives of all players in...journal article 2023
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Jain, V. (author), Kumar, Sandeep Suresh (author), Papaioannou, G. (author), Happee, R. (author), Shyrokau, B. (author)In the transition from partial to high automation, occupants will no longer be actively involved in driving. This will allow the use of travel time for work or leisure, where high comfort levels preventing motion sickness are required. In this paper, an optimal trajectory planning algorithm is presented in order to minimise motion sickness in...journal article 2023
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Morales, Raúl (author), Marín, Luis G. (author), Roje, Tomislav (author), Caquilpan, Víctor (author), Sáez, Doris (author), Nunez, Alfredo (author)Microgrids (MGs) are sustainable solutions for rural zone electrification that use local renewable resources. However, only careful planning at the start of an MG project can ensure its future optimal operation. In this paper, a novel methodology for MG planning by using the uncertainty characterization of renewable resources and demand is...journal article 2023
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Aoun, J. (author), Quaglietta, E. (author), Goverde, R.M.P. (author)Developments in the railway industry are continuously evolving and long-term transition strategies can enable an efficient implementation of signalling technologies that provide a significant increase in network capacity and operation efficiency. Virtual Coupling (VC) advances moving block signalling by further reducing train separation to...journal article 2023
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Xin, Jianbin (author), Meng, Chuang (author), D'Ariano, Andrea (author), Schulte, F. (author), Peng, Jinzhu (author), Negenborn, R.R. (author)This paper investigates a novel routing problem of a multi-robot station in a manufacturing cell. In the existing literature, the objective is to minimize the cycle time or energy consumption separately. The routing problem considered in this paper aims to reduce the cycle time and energy consumption jointly for each robot while avoiding...journal article 2023
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Dabrowski, M.M. (author), Fernandez Maldonado, Ana Maria (author), van der Toorn Vrijthoff, W. (author), Piskorek, K.I. (author)Water and its related heritage play a very special role in cities and regions in Europe. Historic water infrastructures such as bridges, quays and riverfronts, port facilities, sluices, dams, or water mills, specific water-based urban and rural landscapes, but also intangible aspects of water-linked heritage, such as water management knowledge,...report 2022
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Sangiorgio, Matteo (author), Cananzi, Davide (author), Weber, Enrico (author), Zatarain Salazar, J. (author), Castelletti, Andrea (author)Integrated management of water reuse technologies and coordinated operations with other water system components is fundamental to fully exploiting reuse potential. Yet, these technologies are primarily designed considering their individual efficiency more than possible synergies with traditional water management practices. In this paper, we...journal article 2022
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Inna Kedege, V. (author), Czechowski, A.T. (author), Stellingwerff, Ludo (author), Oliehoek, F.A. (author)Distributed robots that survey and assist with search & rescue operations usually deal with unknown environments with limited communication. This paper focuses on distributed & cooperative multi-robot area coverage strategies of unknown environments, having constrained communication. Due to restricted communication there is...conference paper 2022
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Pollayil, Mathew Jose (author), Della Santina, C. (author), Mesesan, George (author), Englsberger, Johannes (author), Seidel, Daniel (author), Garabini, Manolo (author), Ott, Christian (author), Bicchi, Antonio (author), Albu-Schaffer, Alin (author)Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planning method that aims to unify traditional...conference paper 2022
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Lodel, M. (author), Ferreira de Brito, B.F. (author), Serra Gomez, A. (author), Ferranti, L. (author), Babuska, R. (author), Alonso-Mora, J. (author)Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree Search, are capable of reasoning over long horizons, but they are computationally expensive. An alternative...conference paper 2022
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Zheng, Y. (author), Shyrokau, B. (author), Keviczky, T. (author)Motion comfort is the basis of many societal benefits promised by automated driving and motion planning is primarily responsible for this. By planning the spatial trajectory and the velocity profile, motion planners can significantly enhance motion comfort, ideally without sacrificing time efficiency. Active suspensions can push the boundary...conference paper 2022