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A Travelling Salesman Problem with Multi-Visit Drone
, M.Sc. Thesis Sharif University of Technology ; Akbari Jokar, Mohammad Reza (Supervisor)
Abstract
Using drones in a synchronized last-mile delivery system with trucks has garnered attention in recent years. Due to various upsides of employing drones in delivery systems (namely, high speed and low environmental impact, etc.), it is considered a remarkable competitive advantage by many household brand in the E-commerce as well as urban logistics’ world. Furthermore, thanks to recent technological advances in producing higher capacity drones with longer flight range, this mode of delivery could now effectively exist alongside classic delivery means. A synchronized truck and drone problem, which was first introduced by Murray and Chu in 2015, has been exploited from various angles in the...
A Truck & Drone Routing Problem with Mobile Delivery Location
, M.Sc. Thesis Sharif University of Technology ; Akbari Jokar, Mohammad Reza (Supervisor)
Abstract
The last-mile delivery is one of the most challenging problems in supply chain management. In recent years, many studies addressed last-mile delivery and investigated vehicle synchronization to serve customers. The speed and flexibility of drones and the transportation capacity of trucks attracted the attention of researchers to investigate the synchronizing problem of these vehicles. However, most previous works assumed fixed locations for customers, which may not be accurate in real-world environments. The goal of this research is to addresses a more realistic problem, in which customer movements and mobile locations are considered for the first time. A mixed-integer mathematical...
A new fast finite time fractional order adaptive sliding-mode control for a quadrotor
, Article 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021, 23 February 2021 through 24 February 2021 ; 2021 ; 9780738124056 (ISBN) ; Vedadi Moghaddam, T ; Emamifard, A ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2021
Abstract
Fast finite time adaptive sliding mode control of a quadrotor in the presence of uncertainties and unbounded external disturbances is dealt in this paper. To this end, a fractional order sliding surface is first defined and then, an adaptive sliding mode controller is designed to guarantee finite time stability with fast convergence of quadrotor states to the desired trajectory. In this controller, it is assumed that the upper bound of the model uncertainties and external disturbances is a nonlinear function with unknown coefficients. These coefficients are estimated via stable adaptive laws. Finite time stability of the closed-loop system is analyzed using Lyapunov theorem. Simulation...
Budget-constrained drone allocation for distribution system damage assessment
, Article IET Smart Grid ; 2021 ; 25152947 (ISSN) ; Moeini Aghtaie, M ; Fotuhi Firuzabad, M ; Aminifar, F ; Sharif University of Technology
John Wiley and Sons Inc
2021
Abstract
Natural disasters threaten the sustainability of electric power supply. This fact highlights the importance of enhancing technological resourcefulness to handle the upcoming events. Once a natural disaster occurs, the most urgent undertaking is to rapidly pinpoint and assess component damages and dispatch the repair crews towards the most critical impaired elements. Practical efforts confirm that utilising a drone, which is an unmanned aerial vehicle, can notably reduce the duration of post-disaster distribution system damage assessment (DA) and increase the resilience of power systems. This study presents an optimisation model to determine the optimal number and type of drones required for...
Decentralized aggregation and leader-following control of a swarm of quadcopters with nonlinear under-actuated dynamics
, Article Aerospace Science and Technology ; Volume 107 , December , 2020 ; Alasty, A ; Sharif University of Technology
Elsevier Masson S. R. L
2020
Abstract
This paper studies the decentralized control of a swarm of quadrotors on the basis of the nonlinear, highly-coupled, and under-actuated dynamic model of quadcopters. The swarm of quadcopters must illustrate the desired swarm behavior as fast as possible while collision avoidance is preserved during the entire evolution process. The interaction relationship among the swarm members is modeled by artificial potential functions and according to the nearest neighbor rule. The sliding mode control technique is employed to control the velocity of quadcopters in the swarm. Finally, two fundamental swarm behaviors, i.e. swarm aggregation and leader-following, are numerically simulated to demonstrate...