In this work, we consider a multi-wheeled payload transport system. Each of the wheels can be selectively actuated. When they are not actuated, wheels are free moving and do not consume battery power. The payload transport system is modeled as an actuated multi-agent system, with each wheelmotor pair as an agent. Kinematic and dynamic models are developed to ensure that the payload transport system moves as desired. We design optimization formulations to decide on the number of wheels to be active and which of the wheels to be active so that the battery is conserved and the wear on the motors is reduced. Our multi-level control framework over the agents ensures that near-optimal number of agents is active for the payload transport system to function. Through simulation studies we show that our solution ensures energy efficient operation and increases the distance traveled by the payload transport system, for the same battery power. We have built the payload transport system and provide results for preliminary experimental validation.

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Solar energy is on a rising trend internationally and in India. The government target of 100 GW solar capacity by 2022 from the present 12 GW is providing a major push for growth in India. However technological development and market competitiveness are pushing down the prices of solar power. The CEO of Amplus Solar has to deal with these challenges to ensure faster growth. He is analysing various options such as expanding the market to include customers who may not be as credit worthy, expanding to foreign geographies, diversification into providing energy efficiency and other services, and entering other markets such as Renewable Energy Certificates, carbon trading, etc.

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