Energy-aware mobile mobotics: Modeling paradigms, motion planning approaches and control strategies

Mobile robotic systems are increasingly deployed in mission-critical domains such as automation, logistics, agriculture, and rescue operations, where energy consumption limits operational robustness. The high energy demand of sensing, computation, and autonomous decision-making processes necessitates balancing task performance with limited onboard energy resources. Therefore, energy efficiency becomes a key design and optimization criterion for extending operational range, maintaining mission continuity, and prolonging system lifespan. This study provides a comprehensive review of recent academic advances in energy-aware motion optimization for mobile robots. The primary objective is to analyze methodological approaches reported in the literature, emphasizing their strengths and limitations with respect to energy modelling accuracy, planning complexity, and control effectiveness. This study is organized into three main categories: (i) analytical and data-driven approaches for modelling the energy consumption (ii) energy-aware path planning and task allocation methods aimed at minimizing energy and (iii) control strategies that enable energy-efficient robot motion. Methodological gaps between theoretical energy consumption models and practical efficiency improvements in real robotic applications are analyzed, and potential research directions for developing energy-aware systems are identified. This study aims to provide a structured reference and conceptual framework for researchers engaged in the design and development of energy-efficient mobile robotic systems.