For a grasping task planner, the pre-planning of the reachable tip pose in a manipulator’s workspace is important. On this basis, for a seven-degree-of-freedom (7-DOF) redundant manipulator, it is very meaningful to study how to give full play...
Large language model (LLM)-driven computer use agents (CUAs) automate graphical user interface (GUI) tasks but often re-solve previously encountered subtasks, increasing token use and latency. We address this limitation with a directed graph-based pe...
Division of the reachable workspace of upper limbs under different visual and physical conditions, finding the efficient reachable area under concurrent task conditions, and using it as a basis to divide the incorporation boundaries that require robo...
In a household setting, a wheelchair-mounted robotic arm (WMRA) can be useful for assisting elderly and disabled individuals. However, the current WMRA can only perform movement and grasping tasks through joystick remote control. This method results...
Advanced air defense methods are essential to address the growing complexity of aerial threats. The increasing number of targets necessitates better defensive coordination, and a promising strategy involves the use of interceptors together to protect...
Given a directed graph, a k-hop reachability query,
This paper proposes a method for the stability analysis of dynamic neural networks. The stability analysis of dynamic neural networks is a challenging task due to internal feedback connections. In this research work, we propose an algorithm based on...
This paper investigates the conflicting multiple constraints and safety challenges in humanoid robot teleoperation for nonprehensile transportation tasks. The robot’s complex workspace and high degrees of freedom frequently conflict with highly...
Public charging sessions may terminate prematurely because of charger failures or system anomalies, creating service shortfalls that remain recoverable only within a limited response window. This study introduces recoverable service shortfall (RSS),...
In view of the task allocation problem under communication constraints, this paper proposes a distributed performance impact (DPI) algorithm for heterogeneous multi-UAV cooperation. First, the task allocation problem is modelled, incorporating task r...
As the importance of defending against cyber attacks has increased, various studies have been conducted to analyze and utilize the reachability between hosts. Although this approach effectively explains asset-based threat responses by security person...
Abstract: Dynamic modelling is a powerful tool for studying biological networks. Reachability (controllability), observability, and structural identifiability are classical system-theoretic properties of dynamical models. A model is structurally iden...
Manual handling and packing of thin metal plates remains a labour-intensive operation in the automotive manufacturing sector, frequently requiring multiple operators and resulting in limited productivity, reduced process repeatability, and ergonomic...
To address the triple challenges of data sparsity, highly nonlinear dynamics, and maneuver uncertainty in tracking non-cooperative targets in cislunar space, we propose a collaborative framework combining Particle Filter (PF) and Unscented Kalman Fil...
Motion control of tilt-servo fully vectoring UAVs (TSFV-UAVs) is challenging due to their highly nonlinear dynamics. This paper proposes a reinforcement-learning-based training framework for the hierarchical control architecture of TSFV-UAVs. The fra...
In heterogeneous multi-robot systems, allocating tasks efficiently requires determining whether each robot can actually carry out a given task. In existing multi-robot task allocation research, however, such task feasibility has typically been handle...
Urban low-altitude Unmanned Aerial Vehicles (UAVs) often require intermediate recharging during long-duration missions, and mobile Automated Guided Vehicles (AGVs) provide a flexible ground-side recharging solution in obstacle-constrained urban envir...
Mixed Reality (MR) teleoperation offers an intuitive interface for Human-Robot Collaboration (HRC), yet it often faces the “Embodiment Gap”—a physical and kinematic mismatch between human operators and robotic platforms. Existing MR...
The Multiple Traveling Salesman Problem is an extension of the famous Traveling Salesman Problem. Finding an optimal solution to the Multiple Traveling Salesman Problem (mTSP) is a difficult task as it belongs to the class of NP-hard problems. The pr...
Dynamic task allocation in multi-unmanned-aerial-vehicle (multi-UAV) teams must account for uncertain task return, changing reachability, intermittent communication, and terminal-return energy. We develop UCDG-PD for one-task-per-UAV allocation. At e...
In this paper, we develop an exact schedulability test and sufficient infeasibility test for fixed-priority scheduling on multiprocessor platforms. We base our tests on presenting real-time systems as a Kripke model for dynamic real-time systems with...
This study investigates the station planning problem of a mobile manipulator for robotic 3D concrete printing. The problem is formulated as a station planning problem considering two trajectory-level performance objectives: kinematic dexterity and st...
Message-Passing Neural Networks (MPNNs) propagate information through iterative neighborhood aggregation, making long-range information exchange dependent on both network depth and graph structure. This study investigates whether graph diameter adequ...
Navigation systems are developing rapidly; nevertheless, tasks are becoming more complex, significantly increasing the number of challenges for robotic systems. Navigation can be separated into global and local navigation. While global navigation wor...
The number of webpages in the Internet has increased tremendously over the last two decades however only a part of it is indexed by various search engines. This small portion is the indexable web of the Internet and can be usually reachable from a Se...
Modern mobile robots tend to be used in numerous exploration and search and rescue applications. Essentially they are coordinated by human operators and collaborate with inspection or rescue teams. Over the time, robots became more advanced and capab...
Resource assignment in heterogeneous multi-UAV systems changes both current task outcomes and the task chains that remain feasible across a mission region. Completion, delay, utilization, and role-specific reachability metrics do not retain this spat...
3 November 2026
In lifelong Multi-Agent Pickup and Delivery (MAPD), an agent that has just delivered must occupy some cell while it waits, and that cell fixes the distance to its next pickup; current solvers leave the choice to the path planner as a by-product. The...
In order to explore the decision-making processes of horses, we designed an impossible task paradigm aimed at causing an expectancy violation in horses. Our goals were to verify whether this paradigm is effective in horses by analyzing their motivati...
To address slow dynamic-reconfiguration response and difficulty in satisfying hard constraints in the task scheduling of heterogeneous maritime unmanned platforms, this paper proposes a constraint-aware proximal policy optimization (CPPO). CPPO model...
This paper proposes an online human-aware behavior planning method to enable Unmanned Aerial Vehicles (UAVs) to dynamically satisfy high-level linear temporal logic (LTL) task descriptions from human collaborators. The proposed method has the potenti...
Awkward postures are a significant contributor to work-related musculoskeletal disorders (WRMSDs), which represent great social and economic burdens. Various posture assessment tools assess WRMSD risk but fall short in providing an elucidating risk b...
To address the lack of mechanical orchard operation-aid platforms that assist in the horticultural management tasks such as pruning, spraying, thinning flowers and fruits, and harvesting in litchi and longan orchards, this paper proposes an orchard o...
The optimization of production processes has always been one of the cornerstones for manufacturing companies, aimed to increase their productivity, minimizing the related costs. In the Industry 4.0 era, some innovative technologies, perceived as far...
Agile project management pursues repetitive and continuous management through an empirical process control method considering the complexity of the project. This study aimed to propose a collaborative Building Information Modeling (BIM)-based work pr...
This study validates a clinically accessible approach for quantifying the Upper Extremity Reachable Workspace (UERW) using monocular AI-driven Markerless Motion Capture (MMC). Objective validation of such techniques for clinically oriented tasks is e...
In the last decade, several exoskeletons for shoulder rehabilitation have been presented in the literature. Most of these devices focus on the shoulder complex and limit the normal mobility of the rest of the body, forcing the patient into a fixed st...
Emergency response missions employing heterogeneous multi-UAVs are challenged by both the tight coupling between task assignment and motion control and the inherent difficulty in obtaining full probability distributions of stochastic disturbances. In...
Efficient operation of robotic manipulators in constrained workspaces requires careful coordination of robot placement, motion planning, and posture optimization. This paper presents a hierarchical optimization framework that addresses these challeng...
Direct sunlight and reflections from buildings and ground surfaces create multi-source highlights in high-density built environments, potentially affecting outdoor visual safety and spatial use. This integrative review synthesizes daytime outdoor gla...
In recent years, many applications, as well as theoretical properties of interval analysis have been investigated. Without any claim for completeness, such applications and methodologies range from enclosing the effect of round-off errors in highly a...
In the last few decades, the main problem which has attracted the attention of researchers in the field of aerial robotics is the position estimation or Simultaneously Localization and Mapping (SLAM) of aerial vehicles where the GPS system does not w...
Biped climbing robots are considered good assistants and (or) substitutes for human workers carrying out high-rise truss-associated routine tasks. Flexible locomotion on three-dimensional complex trusses is a fundamental skill for these robots. In pa...
Modelling of quantum cascade laser (QCL) structures, despite a regular progress in the field, still remains a complex task in both analytical and numerical aspects. Computer simulations of such nanodevices require large operating memories and effecti...
Automated feeding in cage-based rabbit production is challenging because cage geometry and limited workspace require a compact manipulator with sufficient reach, low mass, and reliable task-level positioning. This study developed a lightweight five-d...
Endoscopic endonasal surgery (EES) is a minimally invasive technique for removal of pituitary adenomas or cysts at the skull base. This approach can reduce the invasiveness and recovery time compared to traditional open surgery techniques. However, i...
This paper introduces a reactive self-collision avoidance algorithm for differentially driven mobile manipulators. The proposed method mainly focuses on self-collision between a manipulator and the mobile robot. We introduce the concept of a distance...
In factory automation and process control systems, hybrid wired/wireless networks are often deployed to connect devices of difficult reachability such as those mounted on mobile equipment. A widespread implementation of these networks makes use of Ac...
This paper presents a study on the robotic harvesting of New Mexico type chile pepper, in a laboratory setting, using a five degrees of freedom (DoF) serial manipulator. The end-effector of the manipulator, a scissor-type cutting mechanism, was devis...
Climbing robots, with their expansive workspace and flexible deployment modes, have the potential to revolutionize the manufacturing processes of large and complex components. Given that the surfaces to be machined typically exhibit variable curvatur...
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