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Electronics
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Intelligent Mobile Robotic Systems: Decision, Planning and Control, 2nd Edition
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Intelligent Mobile Robotic Systems: Decision, Planning and Control, 2nd Edition

A special issue of Electronics (ISSN 2079-9292).

Deadline for manuscript submissions: 15 December 2026 | Viewed by 6557

Special Issue Editors

Dr. Dawei Gong

E-Mail Website
Guest Editor
School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Interests: fuzzy control; robotics; neural network control; visual serving
Special Issues, Collections and Topics in MDPI journals
Dr. Bonan Huang

E-Mail Website
Guest Editor
Department of Information Science and Engineering, Northeastern University, Heping, Shenyang 110819, China
Interests: multi-agent systems; cooperative control; distributed optimization; robotics control; machine learning
Special Issues, Collections and Topics in MDPI journals
Dr. Yang Deng

E-Mail Website
Guest Editor
Department of Automation, Tsinghua University, Beijing 100084, China
Interests: nonlinear control; time-delay systems; robotics
Special Issues, Collections and Topics in MDPI journals
Dr. Minglei Zhu

E-Mail Website
Guest Editor
School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Interests: robotics; neural network control; visual serving
Special Issues, Collections and Topics in MDPI journals
Dr. Shijie Song

E-Mail Website
Guest Editor
Institute of Smart City and Intelligent Transportation, Southwest Jiaotong University, Chengdu 611756, China
Interests: optimal control; reinforcement learning; adaptive dynamic programming; robot control

Special Issue Information

Dear Colleagues,

Due to the urgent requirements of environmental exploration, transportation, the service industry, and military applications, it is crucial that we develop intelligent mobile robots to replace humans in completing dangerous tasks and to improve efficiency. To attain these objectives, mobile robots must be capable of intelligent decision-making, safe motion planning, and accurate motion control. This session will exhibit and discuss the latest research in advanced decision-making, planning, and control technologies for mobile robots (including, but not limited to, wheeled robots, legged robots, flying robots, underwater robots, etc.) in order to improve the reliability, adaptability, and maneuverability of such robots. This session aims to encourage researchers to share new ideas and new methods for enhancing and exploring the potential of mobile robots.

In this Special Issue, original research articles and reviews are welcome. Research areas may include (but not limited to) the following:

  • Advanced decision-making and embodied AI technologies;
  • Fast trajectory planning and collision avoidance for mobile robots;
  • Robust state estimation and filtering for mobile robots;
  • Motion control in an unstructured environment;
  • Learning-based motion control technologies;
  • Human–robot interactions;
  • Other related issues.

Dr. Dawei Gong
Dr. Bonan Huang
Dr. Yang Deng
Dr. Minglei Zhu
Dr. Shijie Song
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 250 words) can be sent to the Editorial Office for assessment.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Electronics is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • intelligent mobile robot
  • path planning
  • intelligent control

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Related Special Issue

Published Papers (6 papers)

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Research

Jump to: Review

14 pages, 1123 KB  
Article
ESKF-g2o-SLAM: A Stereo Visual–Inertial SLAM with ORB Features and ESKF-Based VIO
by Yiyi Cai, Wenyi Jing, Jingneng Ren, Haodong Bai, Simin Li, Yu Sun and Min Xie
Electronics 2026, 15(12), 2599; https://doi.org/10.3390/electronics15122599 (registering DOI) - 12 Jun 2026
Abstract
With the development of the low-altitude economy, low-altitude intelligent agents such as delivery robots, courier drones, and outdoor cleaning robots are gradually moving towards widespread application. One of the core challenges faced by such systems is localization and mapping in complex scenarios characterized [...] Read more.
With the development of the low-altitude economy, low-altitude intelligent agents such as delivery robots, courier drones, and outdoor cleaning robots are gradually moving towards widespread application. One of the core challenges faced by such systems is localization and mapping in complex scenarios characterized by satellite signal denial and unknown environmental prior information. To address this requirement, this paper proposes ESKF-g2o-SLAM, a stereo visual-inertial SLAM system that integrates an ESKF (Error-State Kalman Filter)-based visual-inertial odometry front-end with an ORB-feature-based g2o graph optimization back-end in a cascaded, loosely coupled manner. The proposed method was evaluated on 11 sequences of the EuRoC dataset and compared with state-of-the-art approaches including ORB-SLAM2 (stereo), MSCKF-VIO, OKVIS, and VINS-Fusion (stereo). Ablation studies show marginal improvements on selected sequences and suggest potential robustness advantages under more challenging visual conditions. Experimental results show that our method achieves competitive accuracy in terms of both Absolute Trajectory Error (ATE) and Relative Pose Error (RPE), exhibiting good robustness and stability. Full article
(This article belongs to the Special Issue Intelligent Mobile Robotic Systems: Decision, Planning and Control, 2nd Edition)
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20 pages, 2370 KB  
Article
Large-Scale UAV Formation Reconstruction Method Based on Dynamic Grouping
by Chenjie Liu, Yi Jiang and Dawei Gong
Electronics 2026, 15(8), 1693; https://doi.org/10.3390/electronics15081693 - 17 Apr 2026
Viewed by 282
Abstract
Formation reconstruction for large-scale unmanned aerial vehicle (UAV) swarms faces critical challenges in computational complexity and safe navigation within high-density environments. To address the O(N3) computational bottleneck of traditional assignment algorithms, this study proposes a Dynamic Grouping Task Assignment [...] Read more.
Formation reconstruction for large-scale unmanned aerial vehicle (UAV) swarms faces critical challenges in computational complexity and safe navigation within high-density environments. To address the O(N3) computational bottleneck of traditional assignment algorithms, this study proposes a Dynamic Grouping Task Assignment (DGTA) method based on a hierarchical sorting strategy. Furthermore, an Integrated Hierarchical Control (IHC) framework is developed by coupling fuzzy logic velocity regulation and linear trajectory prediction with an improved Artificial Potential Field (APF) method. Numerical simulation results demonstrate that the DGTA method significantly enhances efficiency; specifically, when the swarm is partitioned into three complete groups, the task assignment time for a 600-UAV swarm is reduced by over 90% compared to non-grouping approaches. Additionally, the IHC framework reduces hazardous incidents by more than 27% in congested scenarios. This DGTA-IHC structure successfully balances global optimality with real-time safety, providing a scalable solution for the autonomous coordination of ultra-large-scale swarms. Full article
(This article belongs to the Special Issue Intelligent Mobile Robotic Systems: Decision, Planning and Control, 2nd Edition)
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13 pages, 3553 KB  
Article
Design of the Active-Control Coil Power Supply for Keda Torus eXperiment
by Qinghua Ren, Yingqiao Wang, Xiaolong Liu, Weibin Li, Hong Li, Tao Lan and Zhen Tao
Electronics 2025, 14(24), 4830; https://doi.org/10.3390/electronics14244830 - 8 Dec 2025
Viewed by 559
Abstract
Active-control coils on Keda Torus eXperiment (KTX) are used to suppress error fields and mitigate MHD instabilities, thereby extending discharge duration and improving plasma confinement quality. Achieving effective active MHD control imposes stringent requirements on the coil power supplies: wide-bandwidth and high-precision current [...] Read more.
Active-control coils on Keda Torus eXperiment (KTX) are used to suppress error fields and mitigate MHD instabilities, thereby extending discharge duration and improving plasma confinement quality. Achieving effective active MHD control imposes stringent requirements on the coil power supplies: wide-bandwidth and high-precision current regulation, deterministic low-latency response, and tightly synchronized operation across 136 independently driven coils. Specifically, the supplies must deliver up to ±200 A with fast slew rates and bandwidths up to several kilohertz, while ensuring sub-100 μs control latency, programmable waveforms, and inter-channel synchronization for real-time feedback. These demands make the power supply architecture a key enabling technology and motivate this work. This paper presents the design and simulation of the KTX active-control coil power supply. The system adopts a modular AC–DC–AC topology with energy storage: grid-fed rectifiers charge DC-link capacitor banks, each H-bridge IGBT converter (20 kHz) independently drives one coil, and an EMC filter shapes the output current. Matlab/Simulink R2025b simulations under DC, sinusoidal, and arbitrary current references demonstrate rapid tracking up to the target bandwidth with ±0.5 A ripple at 200 A and limited DC-link voltage droop (≤10%) from an 800 V, 50 mF storage bank. The results verify the feasibility of the proposed scheme and provide a solid basis for real-time multi-coil active MHD control on KTX while reducing instantaneous grid loading through energy storage. Full article
(This article belongs to the Special Issue Intelligent Mobile Robotic Systems: Decision, Planning and Control, 2nd Edition)
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16 pages, 1675 KB  
Article
Implementation of a Device Failure Query Model for the Virtual Power Plant Smart Operation and Maintenance Platform Based on Retrieval-Augmented Generation Technology
by Zhengping Li, Yufan Zhao, Xiangbo Zhu, Lei Nie, Guanming Ding and Ruizhuo Song
Electronics 2025, 14(22), 4502; https://doi.org/10.3390/electronics14224502 - 18 Nov 2025
Viewed by 841
Abstract
By leveraging retrieval-augmented generation technology in human–computer interaction applications, a large language model was established based on local hardware to construct a root cause query model for equipment failures on virtual power plant intelligent operation and maintenance platforms. This enhances the efficiency of [...] Read more.
By leveraging retrieval-augmented generation technology in human–computer interaction applications, a large language model was established based on local hardware to construct a root cause query model for equipment failures on virtual power plant intelligent operation and maintenance platforms. This enhances the efficiency of maintenance personnel in retrieving troubleshooting solutions from vast technical documentation. First, the virtual power plant architecture was established, clarifying the functions of each layer and defining the flow of information and commands between them. Subsequently, the time-based workflow and corresponding functional modules and sub-functions of its core smart operation and maintenance platform were analyzed. Then a root cause query model for equipment failures was developed on the local hardware platform. A knowledge base for equipment failure root causes was constructed. During deployment, two large models were selected for performance comparison. After comparative experiments, performance of RAG varied across different models, requiring careful selection based on hardware and environment to determine whether RAG technology should be employed. Full article
(This article belongs to the Special Issue Intelligent Mobile Robotic Systems: Decision, Planning and Control, 2nd Edition)
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21 pages, 3005 KB  
Article
Convex Optimization-Based Constrained Trajectory Planning for Autonomous Vehicles
by Xiaoxiao Song, Songming Chen and Qiang Liu
Electronics 2025, 14(15), 2929; https://doi.org/10.3390/electronics14152929 - 22 Jul 2025
Viewed by 3062
Abstract
This paper proposes a constrained trajectory optimization framework for autonomous vehicles (AVs) based on convex programming techniques. An enhanced kinematic vehicle model is introduced to capture dynamic motion characteristics that are often overlooked in conventional models. For obstacle avoidance, environmental constraints are transformed [...] Read more.
This paper proposes a constrained trajectory optimization framework for autonomous vehicles (AVs) based on convex programming techniques. An enhanced kinematic vehicle model is introduced to capture dynamic motion characteristics that are often overlooked in conventional models. For obstacle avoidance, environmental constraints are transformed into convex formulations using free-space corridor methods. The trajectory planning process is further optimized through a linearized model predictive control (MPC) scheme, which considers both vehicle dynamics and environmental safety. The resulting formulation enables efficient convex optimization suitable for real-time implementation. Experimental results in various scenarios demonstrate improvements in both trajectory smoothness and safety. Furthermore, the proposed optimization method reduces the average execution time by nearly 70% compared to the nonlinear alternative, validating its computational efficiency and practical applicability. Full article
(This article belongs to the Special Issue Intelligent Mobile Robotic Systems: Decision, Planning and Control, 2nd Edition)
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Review

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27 pages, 840 KB  
Review
A Review of Operation Optimization Objectives and Evaluation Methods for Park-Level Integrated Energy System with Mobile Robots
by Kaibin Wu, Mengmeng Yue, Hongkun Lyu and Jiaying Chen
Electronics 2025, 14(11), 2239; https://doi.org/10.3390/electronics14112239 - 30 May 2025
Viewed by 1054
Abstract
Aiming at the operation optimization and evaluation problems of a park-level integrated energy system with mobile robots, the current research status and main problems are reviewed from three aspects: classification of operation optimization objectives, sorting of evaluation methods, establishment of evaluation index system, [...] Read more.
Aiming at the operation optimization and evaluation problems of a park-level integrated energy system with mobile robots, the current research status and main problems are reviewed from three aspects: classification of operation optimization objectives, sorting of evaluation methods, establishment of evaluation index system, and selection of evaluation methods. In terms of target classification, a clear taxonomy can be established by categorizing objectives into quantitative and qualitative indicators. From the perspectives of the economic, technical, environmental, and social dimensions, each indicator can be organized into three levels for systematic analysis and discussion. In terms of evaluation methods, the common evaluation methods of the park-level integrated energy system in the past ten years are summarized and organized. Then, the common secondary indicators are analyzed, the principle of the establishment of the evaluation index system is summarized, and suggestions are given for the selection of combined evaluation methods by discussing the common evaluation methods. Finally, the content is summarized and the research work on the operation optimization objectives and evaluation methods of the park-level integrated energy system is prospected. Full article
(This article belongs to the Special Issue Intelligent Mobile Robotic Systems: Decision, Planning and Control, 2nd Edition)
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