This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can de...
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This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can deploy and measure range from to enable localization as the vehicle traverses its pre-defined path through the tunnel. A key question that arises in such scenario is determine apriori, i.e., before the start of the mission, the number of landmarks the vehicle has to carry, given some information about the environment. The main objective is to determine this number so as to keep the maximum position uncertainty less than or close to a desired value. In this article, we develop a novel vehicle navigation system in GPS-denied, feature-deficient environment by combining techniques from estimation, machine learning, and mixed-integer convex optimization. This article develops a novel, systematic method to perform localization and navigate the UV through the environment with minimum number of landmarks while maintaining desired localization accuracy. We also present extensive simulation experiments on different scenarios that corroborate the effectiveness of the proposed navigation system.
The problem of the optimal placement and sizing of dynamic reactive power compensators in AC distribution networks is addressed in this paper from convexoptimization. The exact mixed-integer nonlinear programming (MI...
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The problem of the optimal placement and sizing of dynamic reactive power compensators in AC distribution networks is addressed in this paper from convexoptimization. The exact mixed-integer nonlinear programming (MINLP) model is transformed into a mixed-integer second-order cone programming (MISOCP) model. The main advantage of the MISOCP formulation is the possibility of finding a global optimum with branch & cut combined with interior-point method due to the convex structure of the continuous part of the problem, i.e., the multi period branch optimal power flow. The dynamic reactive power compensators are sized and dimensioned considering daily load curves and variable reactive power injections. Numerical validations are tested in the 33 and 69-bus test feeders using the CVX tool available for MATLAB with the MOSEK solver. These simulations demonstrate the effectiveness and robustness of the MISOCP approach when compared with the solution of the exact MINLP obtained in the GAMS software.
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