I. Introduction
Demand response (DR) broadly refers to altering power demand to achieve economic or grid-level goals. This is distinct from historic operation of the power grid, which has focused on altering power supply to match demand. Renewable generation presents increasing challenges for transmission system operators (TSOs), as they need to cope with greater uncertainty on the supply-side. The proliferation of devices such as electric vehicles (EVs) and smart thermostats in distribution networks has resulted in a large amount of latent flexibility being present at the low voltage level [1]. This presents an opportunity to improve the operation of the power system, without incurring additional infrastructure cost [2].