Abstract
In this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception by the team. In the formation control loop, the controller module is a distributed non-linear model predictive controller and the estimator module fuses local estimates of the target state, obtained by a particle filter at each robot. The two modules and their integration are described in detail, including a real-time database associated to a wireless communication protocol that facilitates the exchange of state data while reducing collisions among team members. Simulation and real robot results for indoor and outdoor teams of different robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target cooperative estimate while complying with performance criteria such as keeping a pre-set distance between the teammates and the target, avoiding collisions with teammates and/or surrounding obstacles.

Abstract
This paper aims at presenting a Home Energy Management System ( HEMS) module capable of scheduling electric water heater ( EWH) appliances in order to optimize the PV self-consumption. A multi-period optimization model is presented. Laboratory tests were conducted to validate the model and to demonstrate the capability of this HEMS module to address recent challenges of self-consumption in a domestic environment. A commercial EWH device developed by Bosch communicating with the HEMS module is used to perform the tests.

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Abstract
Transformers are one of the more expensive pieces of equipment found in a distribution network. The transformer's role has not changed over the last decades. With simple construction and at the same time mechanically robust, they offer long term service that on average can reach half a century. Today, with the ongoing trend to supply a growing number of non-linear loads along with the notion of distributed generation (DG), a new challenge has arisen in terms of transformer sustainability, with one of the possible consequences being accelerated ageing. In this paper we carefully review the existing studies in the literature of the effect of loads and other key factors on oil-transformer ageing. The state-of-the-art is reviewed, each factor is analysed in detail, and in the end a smart transformer protection method is sought in order to monitor and protect it from upcoming challenges.

Abstract
Kidney exchange programs (KEPs) allow the exchange of kidneys between incompatible donor-recipient pairs. Optimization approaches can help KEPs in defining which transplants should be made among all incompatible pairs according to some objective. The most common objective is to maximize the number of transplants. In this paper, we propose an integer programming model which addresses the objective of maximizing the expected number of transplants, given that there are equal probabilities of failure associated with vertices and arcs. The model is compact, i.e. has a polynomial number of decision variables and constraints, and therefore can be solved directly by a general purpose integer programming solver (e.g. Cplex).