When Turkish lender Denizbank paid more than 350 million for the building that houses its headquarters in April, the purchase cemented the bank's place in Istanbul's most expensive commercial district. Yet, almost as soon as the ink had dried on the deal for the imposing 34-story tower, the same institution was quietly scouting for an alternative premises in another city. The reason wasn't because of a seismic shift in its business, it was the prospect of seismic activity beneath it. Earthquakes are unpredictable but also inevitable, and experts say Istanbul might be due one. After the devastation last year in the southeast of the country and criticism the authorities weren't prepared, banks are now getting ahead on contingency planning. That includes establishing teams in shadow offices in the capital Ankara to ensure continuity should disaster strike.

This paper presents a learning based planner for computing optimized 3D printing toolpaths on prescribed graphs, the challenges of which include the varying graph structures on different models and the large scale of nodes & edges on a graph. We adopt an on-the-fly strategy to tackle these challenges, formulating the planner as a Deep Q-Network (DQN) based optimizer to decide the next `best' node to visit. We construct the state spaces by the Local Search Graph (LSG) centered at different nodes on a graph, which is encoded by a carefully designed algorithm so that LSGs in similar configurations can be identified to re-use the earlier learned DQN priors for accelerating the computation of toolpath planning. Our method can cover different 3D printing applications by defining their corresponding reward functions. Toolpath planning problems in wire-frame printing, continuous fiber printing, and metallic printing are selected to demonstrate its generality. The performance of our planner has been verified by testing the resultant toolpaths in physical experiments. By using our planner, wire-frame models with up to 4.2k struts can be successfully printed, up to 93.3% of sharp turns on continuous fiber toolpaths can be avoided, and the thermal distortion in metallic printing can be reduced by 24.9%.

This study introduces the 4D Risk Occupancy within a vehicle-road-cloud architecture, integrating the road surface spatial, risk, and temporal dimensions, and endowing the algorithm with beyond-line-of-sight, all-angles, and efficient abilities. The algorithm simplifies risk modeling by focusing on directly observable information and key factors, drawing on the concept of Occupancy Grid Maps (OGM), and incorporating temporal prediction to effectively map current and future risk occupancy. Compared to conventional driving risk fields and grid occupancy maps, this algorithm can map global risks more efficiently, simply, and reliably. It can integrate future risk information, adapting to dynamic traffic environments. The 4D Risk Occupancy also unifies the expression of BEV detection and lane line detection results, enhancing the intuitiveness and unity of environmental perception. Using DAIR-V2X data, this paper validates the 4D Risk Occupancy algorithm and develops a local path planning model based on it. Qualitative experiments under various road conditions demonstrate the practicality and robustness of this local path planning model. Quantitative analysis shows that the path planning based on risk occupation significantly improves trajectory planning performance, increasing safety redundancy by 12.5% and reducing average deceleration by 5.41% at an initial braking speed of 8 m/s, thereby improving safety and comfort. This work provides a new global perception method and local path planning method through Vehicle-Road-Cloud architecture, offering a new perceptual paradigm for achieving safer and more efficient autonomous driving.

With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algorithms are crucial for ensuring successful task completion while mitigating hazardous outcomes. Mainstream chance-constrained incremental sampling techniques for solving SSP problems tend to be overly conservative and typically do not consider the likelihood of undesirable tail events. We propose an alternative risk-aware approach inspired by the asymptotically-optimal Rapidly-Exploring Random Trees (RRT*) planning algorithm, which selects nodes along path segments with minimal Conditional Value-at-Risk (CVaR). Our motivation rests on the step-wise coherence of the CVaR risk measure and the optimal substructure of the SSP problem. Thus, optimizing with respect to the CVaR at each sampling iteration necessarily leads to an optimal path in the limit of the sample size. We validate our approach via numerical path planning experiments in a two-dimensional grid world with obstacles and stochastic path-segment lengths. Our simulation results show that incorporating risk into the tree growth process yields paths with lengths that are significantly less sensitive to variations in the noise parameter, or equivalently, paths that are more robust to environmental uncertainty. Algorithmic analyses reveal similar query time and memory space complexity to the baseline RRT* procedure, with only a marginal increase in processing time. This increase is offset by significantly lower noise sensitivity and reduced planner failure rates.

Diffusion models, which leverage stochastic processes to capture complex data distributions effectively, have shown their performance as generative models, achieving notable success in image-related tasks through iterative denoising processes. Recently, diffusion models have been further applied and show their strong abilities in planning tasks, leading to a significant growth in related publications since 2023. To help researchers better understand the field and promote the development of the field, we conduct a systematic literature review of recent advancements in the application of diffusion models for planning. Specifically, this paper categorizes and discusses the current literature from the following perspectives: (i) relevant datasets and benchmarks used for evaluating diffusion modelbased planning; (ii) fundamental studies that address aspects such as sampling efficiency; (iii) skill-centric and condition-guided planning for enhancing adaptability; (iv) safety and uncertainty managing mechanism for enhancing safety and robustness; and (v) domain-specific application such as autonomous driving. Finally, given the above literature review, we further discuss the challenges and future directions in this field.

Reward machines allow the definition of rewards for temporally extended tasks and behaviors. Specifying "informative" reward machines can be challenging. One way to address this is to generate reward machines from a high-level abstract description of the learning environment, using techniques such as AI planning. However, previous planning-based approaches generate a reward machine based on a single (sequential or partial-order) plan, and do not allow maximum flexibility to the learning agent. In this paper we propose a new approach to synthesising reward machines which is based on the set of partial order plans for a goal. We prove that learning using such "maximally permissive" reward machines results in higher rewards than learning using RMs based on a single plan. We present experimental results which support our theoretical claims by showing that our approach obtains higher rewards than the single-plan approach in practice.

Manually creating Planning Domain Definition Language (PDDL) descriptions is difficult, error-prone, and requires extensive expert knowledge. However, this knowledge is already embedded in engineering models and can be reused. Therefore, this contribution presents a comprehensive workflow for the automated generation of PDDL descriptions from integrated system and product models. The proposed workflow leverages Model-Based Systems Engineering (MBSE) to organize and manage system and product information, translating it automatically into PDDL syntax for planning purposes. By connecting system and product models with planning aspects, it ensures that changes in these models are quickly reflected in updated PDDL descriptions, facilitating efficient and adaptable planning processes. The workflow is validated within a use case from aircraft assembly.

Long-horizon planning is hindered by challenges such as uncertainty accumulation, computational complexity, delayed rewards and incomplete information. This work proposes an approach to exploit the task hierarchy from human instructions to facilitate multi-robot planning. Using Large Language Models (LLMs), we propose a two-step approach to translate multi-sentence instructions into a structured language, Hierarchical Linear Temporal Logic (LTL), which serves as a formal representation for planning. Initially, LLMs transform the instructions into a hierarchical representation defined as Hierarchical Task Tree, capturing the logical and temporal relations among tasks. Following this, a domain-specific fine-tuning of LLM translates sub-tasks of each task into flat LTL formulas, aggregating them to form hierarchical LTL specifications. These specifications are then leveraged for planning using off-the-shelf planners. Our framework not only bridges the gap between instructions and algorithmic planning but also showcases the potential of LLMs in harnessing hierarchical reasoning to automate multi-robot task planning. Through evaluations in both simulation and real-world experiments involving human participants, we demonstrate that our method can handle more complex instructions compared to existing methods. The results indicate that our approach achieves higher success rates and lower costs in multi-robot task allocation and plan generation. Demos videos are available at https://youtu.be/7WOrDKxIMIs .

This paper addresses the following task: given a set of patches or areas of varying sizes that are meant to be serviced within a bounding contour calculate a minimal length path plan for an unmanned aerial vehicle (UAV) such that the path additionally avoids given obstacles areas and does never leave the bounding contour. The application in mind is agricultural spot spraying, where the bounding contour represents the field contour and multiple patches represent multiple weed areas meant to be sprayed. Obstacle areas are ponds or tree islands. The proposed method combines a heuristic solution to a traveling salesman problem (TSP) with optimised area coverage path planning. Two TSP-initialisation and 4 TSP-refinement heuristics as well as two area coverage path planning methods are evaluated on three real-world experiments with three obstacle areas and 15, 19 and 197 patches, respectively. The unsuitability of a Baustrophedon-path for area coverage gap avoidance is discussed and inclusion of a headland path for area coverage is motivated. Two main findings are (i) the particular suitability of one TSP-refinement heuristic, and (ii) the unexpected high contribution of patches areas coverage pathlengths on total pathlength, highlighting the importance of optimised area coverage path planning for spot spraying.

This article presents novel designs of autonomous UAV prototypes specifically developed for inspecting GPS-denied tunnel construction environments with dynamic human and robotic presence. Our UAVs integrate advanced sensor suites and robust motion planning algorithms to autonomously navigate and explore these complex environments. We validated our approach through comprehensive simulation experiments in PX4 Gazebo and Airsim Unreal Engine 4 environments. Real-world wind tests and exploration experiments demonstrate the UAVs' capability to operate stably under diverse environmental conditions without GPS assistance. This study highlights the practicality and resilience of our UAV prototypes in real-world applications.