Search Results (33)

In robot motion planning in a space with obstacles, the goal is to find a collision-free path for robots from the start to the target position. Numerous fundamentally different approaches, and their many variants, address this problem depending on the types of obstacles, the dimensionality of the space and the restrictions on robot movements. We present a hierarchical motion planning framework for snake-like robots navigating cluttered environments. At the global level, a bounded Generalized Voronoi Diagram (GVD) generates a maximal-clearance path through complex terrain. To overcome the limitations of pure avoidance strategies, we incorporate a local trajectory optimization layer that enables Obstacle-Aided Locomotion (OAL). This is realized through a simulation-in-the-loop system in CoppeliaSim, where gait parameters are optimized using Particle Swarm Optimization (PSO) based on contact forces and energy efficiency. By coupling high-level deliberative planning with low-level contact-aware control, our approach enhances both adaptability and locomotion efficiency. Experimental results demonstrate improved motion performance compared to conventional planners that neglect environmental contact. Full article

Vibocracy refers to societal conditions in which public life and decision-making are shaped by affective resonance, performative legitimacy, and unstable epistemic frames, often amplified by algorithmic media and neo-oral communication environments. Unlike wicked problems, which presuppose shared intelligibility, and post-truth politics, which emphasize the erosion of factual authority, vibocracy designates contexts where problems themselves are enacted and sustained through affective circulation. Recent years have seen the emergence of societal challenges where public life and decision-making are shaped less by shared evidence and deliberative reasoning than by affective resonance and performative legitimacy. This entry introduces the concept of vibocracy to describe these conditions and distinguishes it from existing categories such as wicked problems and messes. The analysis is based on a conceptual synthesis of scholarship from planning, organizational studies, media theory, and political science, combined with illustrative examples from recent societal controversies. The main finding is that vibocratic problems resist not only solutions but stable framing itself, creating volatile, performative arenas where legitimacy is enacted rather than negotiated. The entry concludes by proposing vibocracy as a distinct conceptual lens for understanding emerging societal challenges and outlines methodological implications for researchers and practitioners. Full article

Climate adaptation in urban environments is often constrained by rigid institutional rules and fragmented governance, which limit inclusive and context-specific planning of public spaces such as schoolyards. This study addresses this challenge by examining how collaborative planning can transform schoolyards, from asphalt-dominated, monofunctional spaces into green, climate-resilient community assets. The research employed the Institutional Analysis and Development framework within a qualitative case study design. Two public schools in the San Cristóbal de los Ángeles neighbourhood of Madrid served as case studies, with data collected through document analysis, participant observation, and interviews with municipal officials, urban planners, educators, and community members. Results indicate that the collaborative planning process reshaped rules in use, expanded the network of actors, and transformed decision-making processes. Existing rules were flexibly reinterpreted to allow new uses of space. Children, teachers, and residents became co-producers of the public space, expanding the governance network, where new deliberative practices emerged that improved coordination across people and organisations. These institutional changes occurred without formal regulatory reform, but with the reinterpretation of the game’s rules by each organisation. Thus, schoolyards can serve as laboratories for institutional innovation and participatory climate adaptation, demonstrating how urban experiments have the potential to catalyse not only physical transformations but also transformations in urban management. Full article

The time is nigh to organize the physical landscapes of the United States under a unified land use policy and planning framework. As human populations have steadily grown, so has the urgency for agencies to plan for land uses at broader scales to overcome continued jurisdictional fragmentation and achieve sustainable and environmentally just landscapes. This paper introduces a vision, conceptual approach, and implementation strategy that applies ecoregions and proposes a unified framework for land use planning and regulation in the United States. The Sustainable Ecoregion Program (SEP) is designed to enable local landowners; public stakeholders; other land users; and state, regional, tribal, and national natural resource professionals to set and achieve future desired conditions for sustainable land uses across landscapes. The objective is to outline a comprehensive and sustainably just solution to the recurring problem of managing conflicting land uses in the face of continued degradation and multiple land tenure systems. The SEP will determine how much of the physical landscape will go to developed, agricultural, and natural landcover types. The framework includes recognition of level III ecoregions as primary boundaries, proposed secondary boundaries and shapes to enhance connectivity and movement across landscapes, a proposed structure for the environmental governance and co-management of landscapes, and definitions of physical landscape types. The benefits and challenges of the SEP are discussed. The outcomes of the SEP include ecological integrity, sustainable land use management, deliberative democracy, just sustainability, and improved quality of life for residents of the United States. Full article

This article presents a thematic analysis of submissions made on New Zealand’s Emergency Management Bill. While a key focus is on the importance and frequency of animal welfare concerns raised by submitters, the analysis also examines other critical themes to provide context on the range of issues addressed. The impact of the “No Animal Left Behind” campaign launched by Animal Evac New Zealand in mobilising public engagement on animal welfare provisions is also assessed. Sixty-one percent (n = 191) of public submissions on the Bill raised the importance of including animals in new emergency management legislation and at least 48% (n = 149) of all public submissions were directly attributed to the campaign. Key animal welfare concerns include the need for clear statutory powers and requirements, better coordination and resourcing, and recognition of the human–animal bond. Other prominent non-animal-related themes relate to strengthening community resilience, improving Māori participation in emergency management, and enhancing readiness and response capabilities. Specific recommendations are made for legal changes to better protect animal welfare, including amending key provisions to explicitly address animal rescue and evacuation, mandating animal welfare emergency plans, strengthening animal seizure and disposal processes, and enhancing accountability for animal emergency response charities. With improving animal disaster management law being the most common issue identified, it is logical for a government to apply deliberative democracy to ensure animals are better protected in New Zealand emergency management reforms. The findings underscore the importance of comprehensive, multi-faceted reform to create a world-leading emergency management framework. Full article

This paper examines the role of social research and communication methodologies in fostering substantive democratic participation and policy co-production within the context of urban regeneration initiatives anchored in the United Nations Sustainable Development Goals. This research critically analyzes the “becoming public” of sociology and social research in participatory design processes related to traditional urban planning instruments at the local scale (Regulatory Plans) in the Italian context, specifically through the case study of the Municipality of Appignano. It questions the role of sociology in activating a competent public sphere and promoting deliberative democracy at urban and territorial design levels and whether we can identify the traits of public sociology in facilitating the different stages of these processes. This paper details a participatory process in Appignano that sought to innovate urban regeneration within complex legislative frameworks, emphasizing community engagement and interdisciplinary approaches. The findings reveal a community actively participating in the regeneration process, demonstrating a high level of agreement on various urban development strategies aimed at sustainability. This study underscores the capacity of public sociology to facilitate public debate and democratic dialogue and suggests that such participatory approaches can significantly contribute to sustainable and resilient urban development, highlighting the potential of sociology as a moral and political force in urban planning. Full article

The objective of this study is to examine the process of land-use change through the lens of the preferences of local actors in the Kırcami Agrihood. Our main focus is to investigate whether the decision-making mechanisms used in the Kırcami development plan (i) are carried out in accordance with deliberative democracy and (ii) whether they are true, systematic, and typical tools of deliberative democracy. To do so, in-depth interviews were conducted with local actors, namely residents, investors, and local government, and their preferences and views regarding urban agriculture and the decision-making process were examined through discourses. Our first finding is that very few tools of deliberative democracy are used in the making of the Kırcami development plan, and they are not idealised tools. Our second finding is that less than half of residents and investors participate in these flawed democratic decision-making processes; thus, the transformative power of deliberation does not function in the Kırcami case. Finally, deliberative democratic tools are not incorporated into Turkish legislation at both local and national levels. We conclude that these three issues should be addressed, and genuine tools of deliberative democracy should be used to make the Kırcami development plan more sustainable and legitimate. Full article

Port–city ecosystems face pressing challenges, such as land regeneration and environmental conservation, while striving to foster conscientious governance models among stakeholders. An innovative solution to address these issues lies in Information and Communication Technologies (ICT), acknowledged by sustainability frameworks as essential for sustainable urban development. Although ICT is regularly employed by ports for logistics and traffic management, its untapped potential for urban planning is substantial. Starting from studies conducted on port planning and management and the use of ICT as a decision support system, this research seeks to explore the feasibility of devising an innovative model to facilitate deliberative decision-making for the regeneration of port–city interaction areas. This study adopts the InterACT approach to support planning efforts by constructing an open and implementable Geographic Information System (GIS). This approach has been tested on the Port of Naples in Italy to provide the Port System Authority (AdSP) of the Central Tyrrhenian Sea with strategic guidance as part of their efforts to draft a new Port Master Plan. The initial achievements encompass the establishment of an operational database to facilitate stakeholders within the Port, in conjunction with the implementation of a deliberative decision-making process enriched by ICT. Additionally, a tool was devised to seamlessly combine visualization and spatial data integration, thus fostering engagement and collaboration between port and urban stakeholders. Full article

Assistance dogs provide significant benefits to older adult owners. However, despite protective legislation, aged care facilities continue to not allow owners to retain their dogs on relocation. The purpose of the current study was to explore whether older adults should be allowed to retain their dog on relocation to an aged care facility, and what factors should impact this decision. Further, if allowed to retain their dog, what would be the best practice to allow for this? A deliberative democracy methodology was used, with a range of key stakeholders recruited. Focus groups were held, with follow-up questionnaires to establish deliberation for all questions. Results indicated that with sufficient objective measurement, fair decisions can be made to ensure the welfare and well-being of the owner and dog. Key policy and procedure changes would also be necessary to ensure ongoing support, such as training, care plans, and emergency directives. By ensuring sufficient policies and procedures are in place, training and support could lead to an ideal outcome where facilities could be at the forefront of a better future for aged care. Full article

The introduction of forests in cities has been an observable trend in recent years, with planned forest management projects proliferating around the world. The fact that many urban forests in the public space are traditionally managed by top-down bureaucratic procedures and guided by expert knowledge raises questions about whether green areas should follow the same management approach as other urban infrastructures, such as mobility infrastructures, or whether they should explore a collaborative approach designed to engage diverse stakeholders. This article examines the challenges of innovating in urban forests, changing the management rules that may limit participatory and deliberative processes to support decision-making. In particular, we analyzed how introducing a co-creation stage impacted the traditional competitive public tender procedure in the Madrid Metropolitan Forest project, using the Institutional Analysis and Development (IAD) framework. Results showed that the costs and benefits of innovation differ among involved actors, generating unintended deterrent effects for experimentation. To mitigate these decoupling effects, we suggest a strategic design of working rules and updating the shared incentive to move from a competitive and transactional logic to a more collaborative and co-creative form of connection. Full article

Environmental problems are often highly complex and demand a great amount of knowledge of the people tasked to solve them. Therefore, a dynamic polit-economic institutional framework is necessary in which people can adapt and learn from changing environmental and social circumstances and in light of their own performance. The environmentalist literature refers to this knowledge producing and self-correcting capacity as ecological reflexivity. Large parts of the literature agree that deliberative democracy is the right institutional arrangement to achieve ecological reflexivity. Our paper sheds doubt on this consensus. While we agree with the critique of centralized, technocratic planning within the literature on deliberative democracy and agree that ecologically reflexive institutions must take advantage of the environmental ‘wisdom of the crowd’, we doubt that deliberative democracy is the right institutional arrangement to achieve this. Ecological deliberation fails to address its own epistemic shortcomings in using crowd wisdom: Rational ignorance, rational irrationality and radical ignorance weaken the performance of deliberative institutions as an alternative and reflexive form of ecological governance. Instead, we propose an institutional order based on market-based approaches as the best alternative for using the environmental wisdom of the crowd. Full article

The active participation of stakeholders is a crucial requirement for effective land-use planning (LUP). Involving stakeholders in LUP is a way of redistributing the decision-making power and ensuring social justice in land-management interventions. However, owing to the growing intricacy of sociopolitical and economic relations and the increasing number of competing claims on land, the choice of dynamic land use has become more complex, and the need to find balances between social, economic, and environmental claims and interests has become less urgent. These facts reflect a paradigm shift from top-down, noninteractive, and one-directional policymaking approaches to a more negotiable, bottom-up, deliberative, and responsible one. Geospatial industries claim that digital twin technology is a potential facilitator that improves the degree of stakeholder participation and influences land-use planning. The validity of this claim is, however, unknown. By adopting the integrative literature review, this study identifies where in LUP is stakeholder participation much needed and currently problematic, as well as how digital twin could potentially improve. The review shows that digital twins provide virtual visualisation opportunities for the identification of land-use problems and the assessment of the impacts of the proposed land uses. These offer the opportunity to improve stakeholder influence and collaboration in LUP, especially in the agenda-setting phase, where land-use issues could be identified and placed on the LUP agenda. This relies on the ability and willingness of local planning institutions to adopt digital twins, and stakeholders’ perception and willingness to use digital twins for various land-use goals. Despite the assertion that digital twins could improve the influence of stakeholders in LUP, the focus and the development of digital twins have not accomplished much for those features of the technology that could improve stakeholder influence in LUP. By adopting the principles of the social construction of technology, this study proposes a “technological fix” of digital twins to focus more on improving stakeholder influence on land-use planning. Full article

In China, joint activities for the elderly and children in integrated welfare facilities lack systematic decision procedures. By learning from the “leisure constraint” theory, the study puts forward six influencing indicators of motivation and constraint in the aspects of preliminary coordination, activity space and effect. By using semi-structured interviews and questionnaire surveys analyzed by deviation value computation, the study analyzes the evaluation value of influencing factors in the decision procedure of potential activity cases, where administrators and nurses act as two decision makers. Further, it discusses the decision-making mechanism based on the “motivation–constraint” interaction model. Firstly, it analyzes the dominant forces in the decision procedure, which are “motivation oriented”, “negotiation oriented” and “constraint oriented”. Secondly, it reveals that administrators and nurses as two decision makers tend to give positive motivation evaluations and deliberative constraints evaluations, respectively. Additionally, it analyzes the decision procedures of activities with distinct feasibility differentiation. Thirdly, it positions the levels of occurrence potential as “should occur”, “occurred but should be improved”, “potentially could occur” and “hard to occur”. Eventually, it analyzes the requirements and potential for joint activities under different service modules, which provides a theoretical foundation for the systematic planning and development of the joint activities. Full article

Risk-stratified pathways of survivorship care seek to optimize coordination between cancer specialists and primary care physicians based on the whole person needs of the individual. While the principle is supported by leading cancer institutions, translating knowledge to practice confronts a lack of clarity about the meaning of risk stratification, uncertainties around the expectations the model holds for different actors, and health system structures that impede communication and coordination across the care continuum. These barriers must be better understood and addressed to pave the way for future implementation. Recognizing that an innovation is more likely to be adopted when user experience is incorporated into the planning process, a deliberative consultation was held as a preliminary step to developing a pilot project of risk-stratified pathways for patients transitioning from specialized oncology teams to primary care providers. This article presents findings from the deliberative consultation that sought to understand the perspectives of cancer specialists, primary care physicians, oncology nurses, allied professionals, cancer survivors and researchers regarding the following questions: what does a risk stratified model of cancer survivorship care mean to care providers and users? What are the prerequisites for translating risk stratification into practice? What challenges are involved in establishing these prerequisites? The multi-stakeholder consultation provides empirical data to guide actions that support the development of risk-stratified pathways to coordinate survivorship care. Full article

This study investigated the role of participatory village maps in strengthening the Musrenbang, an annual multi-stakeholder public consultation forum to discuss development issues and plans in Indonesia. We evaluated the Musrenbang in five villages in Deli Serdang District after conducting participatory mapping workshops to produce village maps to inform the Musrenbang process. Our results show that communication between Musrenbang participants improved because the maps provided a clear definition of the village administrative area, geospatial data as resources for participation, transparency, and a dynamic deliberative process. Collaboration was also evident as the maps enabled participants to exchange knowledge, experience social learning, and have greater influence on the decision-making process. Despite the benefits, some issues impeded the optimal use of the village maps to support the participatory process in the Musrenbang. The maps could not completely overcome the power disparities between Musrenbang participants. Certain actors still dominated the implementation of the Musrenbang, making the deliberative process inaccessible to and less inclusive of some local stakeholders. Several improvements are urgently needed to optimise the use of participatory village maps and enhance Musrenbang implementation. Full article