Nonlinearly constrained discrete-time optimal-control problems
Applied Mathematics and Computation
Voltage scheduling problem for dynamically variable voltage processors
ISLPED '98 Proceedings of the 1998 international symposium on Low power electronics and design
Urban Search and Rescue Robots: From Tragedy to Technology
IEEE Intelligent Systems
Practical PACE for embedded systems
Proceedings of the 4th ACM international conference on Embedded software
Dynamic voltage scheduling with buffers in low-power multimedia applications
ACM Transactions on Embedded Computing Systems (TECS)
Optimizing sensor movement planning for energy efficiency
ISLPED '05 Proceedings of the 2005 international symposium on Low power electronics and design
Deployment of mobile robots with energy and timing constraints
IEEE Transactions on Robotics
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This paper studies an approach to minimize the power consumption of a mobile robot by controlling its traveling speed and the frequency of its on-board processor simultaneously. The problem is formulated as a discrete-time optimal control problem with a random terminal time and probabilistic state constraints. A general solution procedure suitable for arbitrary power functions of the motor and the processor is proposed. Furthermore, for a class of realistic power functions, the optimal solution is derived analytically. Interpretations of the optimal solution in the practical context are also discussed. Simulation results show that the proposed method can save a significant amount of energy compared with some heuristic schemes.