Urban multi-UAV navigation in dense building environments requires not only collision-free geometric paths but also executable flight processes under motion constraints and inter-UAV safety requirements. A static path that is feasible in a geometric...
Dynamic bipedal jumping is highly sensitive to takeoff momentum and landing configuration, making the direct execution of purely offline-optimized trajectories unreliable on full-sized humanoid robots in the presence of modeling inaccuracies and exec...
To address the limitations of conventional mobile robot path planning results in terms of geometric continuity, kinematic executability, and adaptability to dynamic environments, this study proposes a reference trajectory generation method oriented t...
Contour error in CNC machine tools results from both trajectory generation and servo execution, yet the final error magnitude alone cannot explain how changes in control parameters alter the underlying formation process. This study proposes a geometr...
Accuracy in executing a motor task, i.e., in following a given trajectory under geometrical constraints, is of great interest in work operations as well as in biomechanics applications. In the framework of the Fitts’ law research on motor tasks...
End-effector obstacle-avoidance trajectory planning is essential for improving the autonomy, safety, and executability of industrial robotic manipulators in constrained workspaces. Conventional Rapidly Exploring Random Tree (RRT) planners provide eff...
In ultrasonic nondestructive testing, maintaining the ultrasonic sensor in normal contact with curved surfaces is pivotal for acquiring valid defect signals. Replacing manual operation with a robotic arm ensures stable signal collection, while stable...
Industrial robots have a key role in the concept of Industry 4.0. On the one hand, these systems improve quality and productivity, but on the other hand, they require a huge amount of energy. Energy saving solutions have to be developed and applied t...
Inspired by the limited battery life of multi-rotor unmanned aerial vehicles (UAVs), this research investigated hierarchical real-time control of UAVs with the generation of energy-optimal reference trajectories. The goal was to design a reference ge...
Motion planning in robotic systems, particularly in industrial contexts, must balance execution speed, precision, and safety. Excessive accelerations, especially centripetal ones in high, curvature regions, can cause vibrations, reduce tracking accur...
Low-altitude urban environments pose significant challenges to multi-UAV trajectory planning because of dense buildings, constrained airspace, dynamic obstacles, inter-UAV conflicts, and terminal-area congestion. This study proposes a hierarchical th...
Navigation planning and execution for underwater gliders operating in thermocline-affected environments is challenging due to the coupled influence of energy constraints, spatially distributed environmental disturbances, and limited control authority...
To deal with the astronaut’s motion intention, as well as uncertainties in robotic dynamics, a human–spacesuit interaction (HSI) model is presented for the development of a joint-assisted exoskeleton robot in an active spacesuit using ada...
With the continuous development of UAV technology and swarm intelligence technology, the UAV formation cooperative mission has attracted wide attention because of its remarkable function and flexibility to complete complex and changeable tasks, such...
This study examines the Physical Execution Layer, in which AI agents extend digital decision-making into real-world tasks. It asks why Amazon Supply Chain Services (ASCS), launched in May 2026, may be structurally favored as infrastructure for this t...
With the exponential growth of numerous drone operations ranging from infrastructure monitoring to even package delivery services, the integration of UAS in the smart city transportation systems is an actual task that requires radically new, sustaina...
Aircraft wire-harness routing on fixture boards requires not only efficient large-workspace robot motion but also smooth and process-safe passage around densely distributed pins. Conventional robot trajectory optimization generally focuses on generic...
When preparing and executing goal-directed actions, neck proprioceptive information is critical to determining the relative positions of the body and target in space. While the contribution of neck proprioception for upper-limb movements has been pre...
Contemporary neuroscience has generated extensive empirical insights into perception, memory, prediction, valuation, and consciousness. However, it still lacks an explicit operational architecture capable of explaining how these processes emerge from...
The determination of the optimal position of a robotic task within a manipulator’s workspace is crucial for the manipulator to achieve high performance regarding selected aspects of its operation. In this paper, a method for determining the opt...
Aiming to address challenges in the motion coordination of dual-arm robot engineering applications, a comprehensive set of planning methods is devised. This paper takes a dual-arm system composed of two six-degrees-of-freedom industrial robots as the...
Background/Objectives: Ankle dorsiflexion plays a fundamental role in gait stability, impact absorption, and the stance-to-swing transition, and its impairment is a major limitation in transtibial prostheses. This study proposes and evaluates a light...
Fixed-link manipulators have limited adaptability to changes in task locations and obstacle layouts, while sequential mechanism design and trajectory planning restrict their coordinated performance. This study proposes a surrogate-assisted bilevel op...
For the last decade, there has been great interest in studying dynamic control for unmanned aerial vehicles, but drones—although a useful technology in different areas—are prone to several issues, such as instability, the high energy cons...
Navigation is an essential ability for autonomous systems, and efficient motion planning for mobile robots is a central topic for autonomous vehicle design and service robotics. Most path-planning algorithms produce reference paths with sharp or disc...
Autonomous navigation in mobile robots operating in dynamic and partially known environments demands the coordinated integration of perception, decision-making, and control while ensuring stability, safety, and energy efficiency. This paper presents...
In this study, the hardware design, manufacturing, and control of a Two-Wheeled Inverted Pendulum Manipulator (TWIPM) are successfully achieved. The system comprises a two-degree-of-freedom independently driven chassis integrated with a three-degree-...
In swarm robotics, collective transport refers to the cooperative movement of a large object by multiple small robots, each with limited individual capabilities such as sensing, mobility, and communication. When working together, however, these simpl...
Background/Objectives: Lower-limb impairment can alter ankle-joint motion and reduce functional mobility during demanding locomotor tasks such as stair ascent and descent. This study presents the development and preliminary proof-of-concept evaluatio...
This simulation study evaluates a current-aware local planner for a circular planar remotely operated vehicle model in known static maps with time-varying currents. PFPA-v2 combines bounded attraction, threat-weighted repulsion, current-adjusted loca...
With the rapid development of artificial intelligence and robotics, the application of robotics in the chemical domain is driving a transformation toward intelligent and large-scale research in chemistry and material science. However, sample weighing...
As autonomous driving technology advances, the imperative of ensuring pedestrian traffic safety becomes increasingly prominent within the design framework of autonomous driving systems. Pedestrian trajectory prediction stands out as a pivotal technol...
9 November 2022
Many children referred to mental health services have neurodevelopmental problems, which are not always recognized because the resulting emotional and behavioral problems dominate diagnosis and treatment. BOAM (Basic needs, Order, Autonomy and Meanin...
With the rapid advancement of maritime sports, the integration of auxiliary unmanned surface vehicles (USVs) has emerged as a promising solution to enhance the efficiency and safety of maritime education, particularly in tasks such as buoy deployment...
The task of performing locomotion and manipulation simultaneously poses several scientific challenges, such as how to deal with the coupling effects between them and how to cope with unknown disturbances introduced by manipulation. This paper present...
The transportation of large payloads can be made possible with Multi-Robot Systems (MRS) implementing cooperative strategies. In this work, we focus on the coordinated MRS trajectory planning task exploiting a Model Predictive Control (MPC) framework...
When it comes to harvesting operations, precision agriculture needs to consider both combine harvester technology and the precise execution of the process to eliminate harvest losses and minimize out-of-work time. This work aims to propose a complete...
To address sustained deviation from coverage lanes when an unmanned surface vehicle (USV) executes a complete boustrophedon coverage path under current disturbances, this study proposes an adaptive current-aware line-of-sight (ACA-LOS) guidance metho...
This paper presents a software application developed in Python (v3.9) for obstacle avoidance trajectory planning in the RoboDK (v6.0) virtual environment. The proposed method automatically scans the virtual station, identifies obstacles, discretizes...
Planning a low-detectability route for a fixed-wing UAV in mountainous environments with radar-based sensing constraints remains highly challenging. Conventional approaches struggle to simultaneously ensure both path quality and operational safety. T...
Industrial process safety systems are predominantly reactive: alarms activate after limits are crossed, faults are diagnosed after deviations develop, and HAZOP knowledge remains offline during operation. This paper proposes Predictive Operational Sa...
In robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. To ensure the safe execution of tasks by the robot, meticulous planning of its foot placements and precise l...
This paper presents a navigation strategy for a platoon of n non-holonomic mobile robots with a time-varying spacing policy between each pair of successive robots at the platoon, such that a safe trailing distance is maintained at any speed, avoiding...
Autonomous mobile robots are an important focus of current research due to the advantages they bring to the industry, such as performing dangerous tasks with greater precision than humans. An autonomous mobile robot must be able to generate a collisi...
Search and rescue (SAR) refers to every operation aiming to find someone presumed lost, sick, or injured in remote or hard-to-access areas. This study presents the design of an operational system that supports maritime SAR emergencies by combining in...
Long-horizon mobile manipulation requires a robot to execute a sequence of heterogeneous subtasks such as navigation, picking, and articulated-object manipulation in indoor environments. Standard reinforcement learning suffers from reward sparsity an...
State of the art approaches to Multi-robot localization and mapping still present multiple issues to be improved, offering a wide range of possibilities for researchers and technology. This paper presents a new algorithm for visual Multi-robot simult...
Autonomous quadrotor landing on moving ground platforms is essential for cooperative air–ground operations in confined warehouse environments. However, existing trajectory planners often compromise corridor clearance in narrow aisles or fail to...
In machining, natural oscillations, and elastic, gravitational or temperature deformations, are still a problem to guarantee the quality of fabricated parts. In this paper we present an optical measurement system designed to track and localize in 3D...
To support the increasing number of planned lunar missions, a collaborative international initiative is underway to conceptualise and establish a lunar satellite constellation for communication and navigation. In this context, the goal of the current...
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