Safety guarantee prior to the deployment of robots can be difficult due unexpected disturbances in runtime. This article presents a real-time receding-horizon robust trajectory planning algorithm for nonlinear closed-loop systems, which guarantees safety system under unknown but bounded disturbances. We characterize forward reachable sets (FRSs) based on Hamilton–Jacobi reachability analysis as...

Cell formation (CF) problem is one of the most important decision problems in designing a cellular manufacturing system includes grouping machines into machine cells and parts into part families. Several factors should be considered in a cell formation problem. In this work, robust optimization of a mathematical model of a dynamic cell formation problem integrating CF, production planning and w...

Many critical robotics applications require robustness to disturbances arising from unplanned forces, state uncertainty, and model errors. Motion planning algorithms that explicitly reason about robustness require a coupling of trajectory optimization and feedback design, where the system’s closedloop response to bounded disturbances is optimized. Due to the often-heavy computational demands of...

According to conventional wisdom, planning for the future is becoming more difficult due to anthropogenic climate change. As the story goes, it is possible that a plan may be made anticipating one climate future and then disaster results when another future climate unfolds. In practice, it is often possible to assess risks and develop robust strategies that arise due to climate uncertainties th...

A robot cooperative manipulation system based on visual simultaneous localization and mapping is proposed in this paper. A single camera mounted on each mobile robot is used to observe unknown environments. SURF algorithm is employed to extract features of the environment and the target object. Three-dimensional positions of the features are estimated according to the visual information. The st...

This paper proposes a control strategy for a cable‐suspended robot based on an optimal sliding mode approach confronted by external disturbances and parametric uncertainties. This control algorithm is based on the Lyapunov technique, which is not only able to provide the stability of the end‐effector with an acceptable precision but also provides the optimal path in...

We revisit the mathematical models for wireless network jamming introduced by Commander et al. [12,13]: we first point out the strong connections with classical wireless network design and then we propose a new model based on the explicit use of signal-to-interference quantities. Moreover, to address the uncertain nature of the jamming problem and tackle the peculiar right-hand-side (RHS) uncer...

Many critical robotics applications require robustness to disturbances arising from unplanned forces, state uncertainty, and model errors. Motion planning algorithms that explicitly reason about robustness require a coupling of trajectory optimization and feedback design, where the system’s closedloop response to bounded disturbances is optimized. Due to the often-heavy computational demands of...

For the past few years, the increase in high bandwidth requiring services forced telecommunication operators like France Telecom Orange to engage the deployment of optical networks, the Fiber To The Home Gigabit Passive Optical Network (FTTH GPON) technology, leading to new design problems. Such problems have already been studied. However, to the best of our knowledge, without taking into accou...

Facility location decisions play a prominent role in strategic planning of many firms, companies and governmental organizations. Since in many real-world facility location problems, the data are subject to uncertainty, in this paper, we consider the P-center problem under uncertainty of demands. Using Bertsimas and Sim approach, we develop a robust model of the problem as an integer programming...