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Motion planning for robotics:A review for sampling-based planners

Biomimetic Intelligence & Robotics 2025年第1期5卷 15-34页

作者： Liding Zhang Kuanqi Cai Zewei Sun Zhenshan Bing Chaoqun Wang Luis Figueredo Sami Haddadin Alois Knoll School of Computation Information and Technology(CIT)Technical University of MunichMunich 85748Germany Munich Institute of Robotics and Machine Intelligence(MIRMI) Technical University of MunichMunich 80992Germany School of Control Science and Engineering Shandong UniversityJinan 250061China School of Computer Science University of NottinghamNottingham 315199United Kingdom

Recent advancements in robotics have transformed industries such as manufacturing,logistics,surgery,and planetary exploration.A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex environments while avoiding collisions and optimizing metrics like path length,sweep area,execution time,and energy *** the available algorithms,sampling-based methods have gained the most traction in both research and industry due to their ability to handle complex environments,explore free space,and offer probabilistic completeness along with other formal *** their widespread application,significant challenges still *** advance future planning algorithms,it is essential to review the current state-of-the-art solutions and their *** this context,this work aims to shed light on these challenges and assess the development and applicability of sampling-based ***,we aim to provide an in-depth analysis of the design and evaluation of ten of the most popular planners across various *** findings highlight the strides made in sampling-based methods while underscoring persistent *** work offers an overview of the important ongoing research in robotic motion planning.

关键词： Robotics Motion planning Sampling-based algorithms

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Deep Learning-based Source Code Classification and Visualization of Decision Rationales 28th

Deep Learning-based Source Code Classification and Visualiza...

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28th International Conference on Knowledge Based and Intelligent information and engineering Systems, KES 2024

作者： Oeda, Shinichi Mitsumori, Seiya Department of Information and Computer Engineering National Institute of Technology Kisarazu College 11-1 Kiyomidaihigashi 2-chome Kisarazu City Chiba Japan Advanced Course of Control and Information Engineering National Institute of Technology Kisarazu College 11-1 Kiyomidaihigashi 2-chome Kisarazu City Chiba Japan

In programming education, it is crucial to provide instruction that is tailored to students' proficiency levels. For this purpose, an objective evaluation of each student's coding ability is essential. Additionally, it is necessary to understand the characteristics of source code written by both beginners and advanced students. Previous research has successfully converted the structural information of source code into graphs and assessed coding skills using deep learning, achieving high accuracy. However, it remains unclear which specific structural elements significantly influence these assessments. This study addresses this gap by transforming source code into abstract syntax trees and developing a model that uses Graph Convolutional Networks to categorize code as either beginner or advanced users based on learned structural information. Furthermore, we apply Integrated Gradients to visualize the decision-making basis of our model and elucidate the structural characteristics distinguishing source code written by beginner and advanced users. © 2024 The Authors.

关键词： Adversarial machine learning

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Improved Dingo Optimization Algorithm for Human-robot Collaborative U-shaped Disassembly Line Balancing Problem

Improved Dingo Optimization Algorithm for Human-robot Collab...

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2024 International Conference on Cyber-Physical Social Intelligence, ICCSI 2024

作者： Li, Jialong Guo, XiWang Wang, Jiacun Qin, ShuJin Qi, Liang Kang, Qi Liaoning Petrochemical University Information and Control Engineering Fushun China Monmouth University Wes Long Branch Computer Science and Software Eng. NJ United States Shangqiu Normal University Economics and Management Shangqiu China Shandong University of Science and Technology Computer Science and Technology Qingdao China New Jersey Institute of Technology Electrical and Computer Engineering Newark United States

ISBN: (纸本)9798350376739

There is increasing attention on remanufacturing, with the primary focus in the industry on recovering reusable products to generate profit. In the process of optimizing remanufacturing, addressing the balance issue in the operation of the disassembly line is crucial. Therefore, this study proposes the use of an improved Dingo Optimization Algorithm (IDOA) and designs a mathematical model for human-robot collaboration to explore how to achieve higher profits under these conditions. Finally, the improved IDOA is experimentally compared with the commercial optimization solver CPLEX and another intelligent optimization method - the Battle Royale Optimization (BRO). The results demonstrate that this method offers high quality and efficiency. © 2024 IEEE.

关键词： Microrobots

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Improved Proximal Policy Optimization Algorithm for Multi-objective Disassembly Line Balancing Considering Hazardous Tasks 21

Improved Proximal Policy Optimization Algorithm for Multi-ob...

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21st International Conference on Networking, Sensing and control, ICNSC 2024

作者： Guo, Zeyu Guo, Xiwang Wang, Jiacun Qin, Shujin Qi, Liang Kang, Qi Liaoning Petrochemical University Information and Control Engineering Fushun China Monmouth University Computer Science and Software Eng. Wes Long BranchNJ United States Shangqiu Normal University Economics and Management Shangqiu China Shandong Technology University Computer Science Department Qingdao China New Jersey Institute of Technology Electrical and Computer Engineering Newark United States

ISBN: (纸本)9798350365221

As disassembly lines evolve, keeping workers safe from all potential dangers has become paramount. This work proposes an improved approach, Proximal Policy Optimization for Disassembly Line(PPO-DL), to address Multi-objective Dis-assembly Line Balancing Problem(MDLBP) that integrates task switching time and hazardous tasks. The MDLBP model aims to optimize disassembly net profit, balance workstation utilization, and mitigate penalties from hazardous tasks. The proposed PPO-DL modifies the action space of PPO to accommodate MD LBP characteristics, ensuring efficient learning by restricting actions to valid ranges through action masking. Comparative experiments with PPO, Q-learning, and A2C demonstrate PPO-DL's superiority in finding near-optimal solutions across various scenarios. © 2024 IEEE.

关键词： Assembly machines

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Metaheuristic Optimization of Time Series Models for Predicting Networks Traffic

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computers, Materials & Continua 2023年第4期75卷 427-442页

作者： Reem Alkanhel El-Sayed M.El-kenawy D.L.Elsheweikh Abdelaziz A.Abdelhamid Abdelhameed Ibrahim Doaa Sami Khafaga Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Faculty of Artificial Intelligence Delta University for Science and TechnologyMansoura35712Egypt Department of Computer Science Faculty of Specific EducationMansoura UniversityEgypt Department of Computer Science Faculty of Computer and Information SciencesAin Shams UniversityCairo11566Egypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh 11671Saudi Arabia

Traffic prediction of wireless networks attracted many researchersand practitioners during the past decades. However, wireless traffic frequentlyexhibits strong nonlinearities and complicated patterns, which makes it challengingto be predicted accurately. Many of the existing approaches forpredicting wireless network traffic are unable to produce accurate predictionsbecause they lack the ability to describe the dynamic spatial-temporalcorrelations of wireless network traffic data. In this paper, we proposed anovel meta-heuristic optimization approach based on fitness grey wolf anddipper throated optimization algorithms for boosting the prediction accuracyof traffic volume. The proposed algorithm is employed to optimize the hyperparametersof long short-term memory (LSTM) network as an efficient timeseries modeling approach which is widely used in sequence prediction *** prove the superiority of the proposed algorithm, four other optimizationalgorithms were employed to optimize LSTM, and the results were *** evaluation results confirmed the effectiveness of the proposed approachin predicting the traffic of wireless networks accurately. On the other hand,a statistical analysis is performed to emphasize the stability of the proposedapproach.

关键词： Network traffic soft computing LSTM metaheuristic optimization

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On the chronological understanding of the homogeneous dielectric barrier discharge

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High Voltage 2023年第6期8卷 1132-1150页

作者： Xinpei Lu Zhi Fang Dong Dai Tao Shao Feng Liu Cheng Zhang Dawei Liu Lanlan Nie Chunqi Jiang State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic EngineeringHuazhong University of Science and TechnologyWuhanChina College of Electrical Engineering and Control Science Nanjing Tech TechnologyNanjingChina School of Electric Power South China University of TechnologyGuangzhouChina Institute of Electrical Engineering Chinese Academy of SciencesBeijingChina Frank Reidy Research Center for Bioelectrics Old Dominion UniversityNorfolkVirginiaUSA Department of Electrical and Computer Engineering Old Dominion UniversityNorfolkVirginiaUSA

Dielectric barrier discharges(DBD)are widely utilised non‐equilibrium atmospheric pressure plasmas with a diverse range of applications,such as material processing,surface treatment,light sources,pollution control,and *** the course of several decades,extensive research has been dedicated to the generation of homogeneous DBD(H‐DBD),focussing on understanding the transition from H‐DBD to filamentary DBD and exploring strategies to create and sustain H‐*** paper first discusses the in-fluence of various parameters on DBD,including gas flow,dielectric material,surface conductivity,and mesh ***,a chronological literature review is presented,highlighting the development of H‐DBD and the associated understanding of its un-derlying *** encompasses the generation of H‐DBD in helium,nitrogen,and ***,the paper provides a brief overview of multiple‐current‐pulse(MCP)behaviours in H‐*** objective of this article is to provide a chronological un-derstanding of homogeneous dielectric barrier discharge(DBD).This understanding will aid in the design of new experiments aimed at better comprehending the mechanisms behind H‐DBD generation and ultimately assist in achieving large‐volume H‐DBD in an air environment.

关键词： dielectric barrier pollution

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PartDensE: Knowledge Graph Embedding with Joint Use of Specific Learning and Relation-aware Functions 6

PartDensE: Knowledge Graph Embedding with Joint Use of Speci...

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6th International Conference on Internet of Things, Automation and Artificial Intelligence, IoTAAI 2024

作者： Dan, Qiuyue Cui, Delong Peng, Zhiping Li, Qirui He, Jieguang Qiu, JinBo Jilin Institute of Chemical Technology School of Information and Control Engineering Jilin China Guangdong University of Petrochemical Technology School of Electronic and Information Engineering Maoming China Jiangmen Polytechnic Jiangmen China Guangdong University of Petrochemical Technology School of Computer Maoming China

ISBN: (纸本)9798350386974

Knowledge Graph Embedding (KGE) is important to the value of the Knowledge Graph (KG) in its application field. Currently, neural network-based models achieve the most advanced performance. However, these models rarely consider the potential information between entities and relations in KGs, and also suffer from the problems of complex structure and high consumption of computing resources. In this paper, we propose the simple and efficient model PartDensE by using dense network, combining specific sharing layer and relational awareness layer. Specifically, our model learns all entities and relationships individually and can mine hidden features to enrich global information. Also, learn all the information based on each relation and be able to accurately establish associations between entities and relations. PartDensE can capture global and local features and displayed and hide information, retaining as much valuable information as possible. We evaluated PartDensE with 4 indicators across on two baseline datasets. Numerous experimental data prove the effectiveness of our model. © 2024 IEEE.

关键词： Knowledge graph

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Optimization Scheduling of Multi-Energy Microgrid Based on the QUBO Quantum Computing Model 19th

Optimization Scheduling of Multi-Energy Microgrid Based on t...

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19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： Wang, Baonan Wang, Hui Zhang, Dan College of Computer Science and Technology Shanghai University of Electric Power Shanghai China State Key Laboratory of Power System Operation and Control Dept. of Electrical Engineering Tsinghua University Beijing China Institute of Logistic Science and Engineering Shanghai Maritime University Shanghai China

ISBN: (纸本)9789819608966

Current optimization methods for microgrid scheduling face issues such as insufficient precision in energy distribution, high operational costs, and inefficiency. In response to these challenges, an optimization scheduling method for multi-energy microgrids based on the QUBO (Quadratic Unconstrained Binary Optimization) quantum computing model is proposed in this paper, alongside a discretization approach based on a grid partitioning strategy. To validate the feasibility of addressing microgrid optimization scheduling problems in a quantum computing environment, a QUBO model is constructed and simulation studies are conducted in the qbsolv environment provided by D-Wave. The results indicate that operational costs are significantly reduced with an increase in the number of grids, particularly a reduction of 4.52% when the number of grids increases from five to ten. This method not only effectively enhances the precision of electricity supply and energy utilization efficiency but also reduces unnecessary electrical waste and economic costs. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Microgrids

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A Case of Cups and a Ball: Utilizing Generative Artificial Intelligence for Human-robotic Collaboration in Task Execution

A Case of Cups and a Ball: Utilizing Generative Artificial I...

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2024 International Automatic control Conference, CACS 2024

作者： Khoirurizka, Nurdin Prajogo, Joy Chrissetyo Perkins, Spencer Kuo, Chao-Hsiang Lin, Hsien-I National Yang Ming Chiao Tung University College of Electrical and Computer Engineering Hsinchu Taiwan National Yang Ming Chiao Tung University Hsinchu Taiwan National Yang Ming Chiao Tung University Institute of Electrical and Control Engineering Hsinchu Taiwan

ISBN: (纸本)9798350354904

Within the domain of robotics, effective interaction between a human collaborator and robot is a topic of great importance. With the continued advancements in Generative Artificial Intelligence (GAI), we propose a prototype system that utilizes GAI and seeks to bridge the gap between the human and robot. This prototype utilizes a Large Language Model (LLM) combined with a vision system for detection and tracking, to allow the GAI system to control a robotic arm and manipulate objects within the action space. We model the action space within our experiments on the 3-cup Monte game where the user can prompt the system to manipulate the cups within the action space based on the ball's location. Experimentation is done on prompts of varying lengths of sequences, and we evaluate our system based on its ability to understand the prompt and correctly execute the desired task. With this collaboration of techniques and technologies, we hope to open the possibilities and extend human and robotic collaboration into new areas. The results of our experiments show promising results to this end. © 2024 IEEE.

关键词： Intelligent systems

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Designing Quantum-Resilient Blockchain Frameworks: Enhancing Transactional Security with Quantum Algorithms in Decentralized Ledgers

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International Journal of Advanced computer Science and Applications 2025年第4期16卷 618-628页

作者： Kale, Meenal R. Baker El-Ebiary, Yousef A. Sathiya, L. Burugari, Vijay Kumar Yulduz, Erkiniy Muniyandy, Elangovan Alanazi, Rakan Department of Humanities Yeshwantrao Chavan College of Engineering Hingna Nagpur India Faculty of Informatics and Computing UniSZA University Malaysia Department of CSE Panimalar Engineering College Chennai India Dept of Computer Science and Engineering Koneru Lakshmaiah Education Foundation Vaddeswaram Andhra Pradesh Guntur India Automatic Control and Computer Engineering Department Turin Polytechnic University in Tashkent Tashkent Uzbekistan Department of Biosciences-Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India Applied Science Research Center Applied Science Private University Amman Jordan Department of Information Technology Faculty of Computing and Information Technology Northern Border University Rafha Saudi Arabia

Quantum computing is progressing at a fast rate and there is a real threat that classical cryptographic methods can be compromised and therefore impact the security of blockchain networks. All of the ways used to secure blockchain like Rivest–Shamir–Adleman (RSA), Elliptic Curve Cryptography (ECC) and Secure Hash Algorithm 256-bit (SHA256) are the characteristic of the traditional cryptographic techniques vulnerable to attack by quantum algorithms: Shor’s and Grover’s algorithms: can efficiently break asymmetric encryption and speed up brute force attacks. Because of this vulnerability, there exists a need to develop an advance quantum resilient blockchain framework to protect the decentralized ledgers from the future threats of the quantum. This research proposes Post-Quantum Cryptography (PQC), Quantum Key Distribution (QKD) and Quantum Random Number Generation (QRNG) as a formidable architectural integration, to fortify security of blockchain. Classical encryption is replaced with PQC, QKD with secure key exchange by detecting eavesdropping, and QRNG with improving cryptographic randomness to remove the predictable key vulnerability. Only with a small loss of transaction efficiency, we increase transaction encryption accuracy, key exchange security, and resistance to quantum attacks. In this quantum enhanced blockchain design, the idea is to preserve the decentralization, transparency and security and at the same time overcome the future quantum threat. By going through rigorous analysis and comparative evaluation, we demonstrate that the approach saves blockchain networks from the emerging quantum risks to make sure that the decentralized finance, smart contracts and cross chain transactions. © (2025), (Science and Information Organization). All rights reserved.

关键词： Quantum cryptography

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