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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
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<title>Long-Duration Deployments : ACT Lab</title>
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<!-- Page Content -->
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<div class="col-lg-12">
<h1 class="page-header">Long-Duration Deployments of Heterogeneous Teams of Robots
<!--small>Subheading</small-->
</h1>
<ol class="breadcrumb">
<li><a href="index.html">Home</a>
</li>
<li class="active">Long-Duration Deployments of Heterogeneous Teams of Robots</li>
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<h3>Description</h3>
<p>Many tasks require robots to operate in long-duration missions with minimal interruption for recharging or replenishing resources. However, robot power and resources are limited, and without a continuous supply of these resources, robots would have significant downtime for recharging or refreshing other resources, which could be severely disruptive to their mission.</p>
<p>In this project, we are developing a theoretical framework to deploy teams of robots (task robots) for exploration and surveillance while taking into account their energy and resource requirements. We envision a distribution center with replenishable resources (batteries, cameras etc.) that receives or predicts requests for fresh resources from deployed robots, and dispatches agile delivery robots (e.g., quadrotors) to deliver them in a timely manner.</p>
<p>We will address the scheduling and prediction problem underlying this distribution task and propose solutions which generate near-optimal schedules for resource redistribution with multiple incoming requests from deployed robots. The framework will incorporate priorities on task robots which can be changed over time, and allow a relaxed delivery schedule if there are not enough delivery robots available. Delivery robots can also be dynamically re-routed to make efficient use of time and resources to sustain long-duration missions for robotic teams operating in a given region.</p>
<h3>Investigators</h3>
<ul>
<li>Jingyao Ren</li>
<li>Nitin Kamra</li>
<li>Ameer Hamza</li>
<li>Nora Ayanian</li>
</ul>
<h3>Related Publications</h3>
<ul>
<li>
N. Kamra, T. K. S. Kumar and <strong>N. Ayanian</strong>.
"Combinatorial Problems in Multirobot Battery Exchange Systems",
in IEEE Trans. Automation Science and Engineering, vol. 15, no. 2, pp. 852-862, April 2018.
<br>
[
<a href="publications/Kamra_TASE2018.pdf">PDF Preprint</a>,
<a href="https://doi.org/10.1109/TASE.2017.2767379">DOI</a>,
<a href="http://dblp.uni-trier.de/rec/journals/tase/KamraKA18">DBLP</a>
]
</li>
<li>
<strong>A. Hamza</strong>.
"Predicting mission power requirement for mobile robots" (Master’s Thesis).
Viterbi School of Engineering, University of Southern California, 2015.
<br>
[
<a href="http://digitallibrary.usc.edu/cdm/ref/collection/p15799coll40/id/197919">Full Thesis</a>
]
</li>
<li>
<strong>N. Kamra</strong> and <strong>N. Ayanian</strong>.
“A Mixed Integer Programming Model for Timed Deliveries in Multirobot Systems”,
in IEEE Conf. on Automation Science and Engineering, Gothenburg, Sweden, August 2015.
<br>
[
<a href="publications/Kamra_CASE2015.pdf">PDF Preprint</a>,
<a href="publications/Kamra_CASE2015.bib">BibTeX</a>
]
<br>
<div class="col-sm-3 col-xs-6">
<a href="images/resource_deliver_1.png">
<img class="img-responsive img-hover img-related" src="images/resource_deliver_1.png" alt="">
</a>
</div>
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<a href="images/resource_deliver_2.png">
<img class="img-responsive img-hover img-related" src="images/resource_deliver_2.png" alt="">
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<a href="images/resource_deliver_3.png">
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</a>
</div>
</ul>
</div>
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<h3 class="page-header">Simulations</h3>
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<a href="images/resource_deliver_3.png">
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