We study the usage of language models (LMs) for planning over world models specified in the Planning Domain Definition Language (PDDL). We prompt LMs to generate Python programs that serve as generalised policies for solving PDDL problems from a given domain. Notably, our approach synthesises policies that are provably sound relative to the PDDL domain without reliance on external verifiers. We conduct experiments on competition benchmarks which show that our policies can solve more PDDL problems than PDDL planners and recent LM approaches within a fixed time and memory constraint. Our approach manifests in the LMPlan planner which can solve planning problems with several hundreds of relevant objects. Surprisingly, we observe that LMs used in our framework sometimes plan more effectively over PDDL problems written in meaningless symbols in place of natural language; e.g. rewriting (at dog kitchen) as (p2 o1 o3). This finding challenges hypotheses that LMs reason over word semantics and memorise solutions from its training corpus, and is worth further exploration.

The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of maintenance. For this purpose, the robot system must be able to plan autonomously the different manipulation tasks and the corresponding paths. Basic requirements are the development of algorithms with a low computational complexity and the possibility to deal with environmental uncertainties. In this work, an approach is presented, which is especially suited to solve the problem of maintenance automation. For this purpose, offline data from CAD is combined with online data from an RGBD vision system via a probabilistic filter, to compensate uncertainties from offline data. For planning the different tasks, a method is explained, which use a symbolic description, founded on a novel sampling-based method to compute the disassembly space. For path planning we use global state-of-the art algorithms with a method that allows the adaption of the exploration stepsize in order to reduce the planning time. Every method is experimentally validated and discussed.

Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under environmental uncertainties (e.g. deviations between prior plan information). The cognition of the robotic system is based on a planning approach (using CAD and RGBD data) and includes a method to interpret a symbolic plan and transform it to a set of executable robot instructions. The complete system is experimentally evaluated using real-world applications. This work shows the first step to transfer these theoretical results into a practical robotic solution.

The most crucial challenges for UAVs are planning paths and avoiding obstacles in their way. In recent years, a wide variety of path-planning algorithms have been developed. These algorithms have successfully solved path-planning problems; however, they suffer from multiple challenges and limitations. To test the effectiveness and efficiency of three widely used algorithms, namely A*, RRT*, and Particle Swarm Optimization (PSO), this paper conducts extensive experiments in 3D urban city environments cluttered with obstacles. Three experiments were designed with two scenarios each to test the aforementioned algorithms. These experiments consider different city map sizes, different altitudes, and varying obstacle densities and sizes in the environment. According to the experimental results, the A* algorithm outperforms the others in both computation efficiency and path quality. PSO is especially suitable for tight turns and dense environments, and RRT* offers a balance and works well across all experiments due to its randomized approach to finding solutions.

This paper addresses the problem of trajectory optimization for unmanned aerial vehicles (UAVs) performing time-sensitive medical deliveries in urban environments. Specifically, we consider a single UAV with 3 degree-of-freedom dynamics tasked with delivering blood packages to multiple hospitals, each with a predefined time window and priority. Mission objectives are encoded using Signal Temporal Logic (STL), enabling the formal specification of spatial-temporal constraints. To ensure safety, city buildings are modeled as 3D convex obstacles, and obstacle avoidance is handled through a Convex Feasible Set (CFS) method. The entire planning problem-combining UAV dynamics, STL satisfaction, and collision avoidance-is formulated as a convex optimization problem that ensures tractability and can be solved efficiently using standard convex programming techniques. Simulation results demonstrate that the proposed method generates dynamically feasible, collision-free trajectories that satisfy temporal mission goals, providing a scalable and reliable approach for autonomous UAV-based medical logistics.

In many planning applications, we might be interested in finding plans that minimally modify the initial state to achieve the goals. We refer to this concept as plan disruption. In this paper, we formally introduce it, and define various planning-based compilations that aim to jointly optimize both the sum of action costs and plan disruption. Experimental results in different benchmarks show that the reformulated task can be effectively solved in practice to generate plans that balance both objectives.

Although large language models have enhanced automated travel planning abilities, current systems remain misaligned with real-world scenarios. First, they assume users provide explicit queries, while in reality requirements are often implicit. Second, existing solutions ignore diverse environmental factors and user preferences, limiting the feasibility of plans. Third, systems can only generate plans with basic POI arrangements, failing to provide all-in-one plans with rich details. To mitigate these challenges, we construct a novel dataset \textbf{RETAIL}, which supports decision-making for implicit queries while covering explicit queries, both with and without revision needs. It also enables environmental awareness to ensure plan feasibility under real-world scenarios, while incorporating detailed POI information for all-in-one travel plans. Furthermore, we propose a topic-guided multi-agent framework, termed TGMA. Our experiments reveal that even the strongest existing model achieves merely a 1.0% pass rate, indicating real-world travel planning remains extremely challenging. In contrast, TGMA demonstrates substantially improved performance 2.72%, offering promising directions for real-world travel planning.

Edge-cloud collaborative computing (ECCC) has emerged as a pivotal paradigm for addressing the computational demands of modern intelligent applications, integrating cloud resources with edge devices to enable efficient, low-latency processing. Recent advancements in AI, particularly deep learning and large language models (LLMs), have dramatically enhanced the capabilities of these distributed systems, yet introduce significant challenges in model deployment and resource management. In this survey, we comprehensive examine the intersection of distributed intelligence and model optimization within edge-cloud environments, providing a structured tutorial on fundamental architectures, enabling technologies, and emerging applications. Additionally, we systematically analyze model optimization approaches, including compression, adaptation, and neural architecture search, alongside AI-driven resource management strategies that balance performance, energy efficiency, and latency requirements. We further explore critical aspects of privacy protection and security enhancement within ECCC systems and examines practical deployments through diverse applications, spanning autonomous driving, healthcare, and industrial automation. Performance analysis and benchmarking techniques are also thoroughly explored to establish evaluation standards for these complex systems. Furthermore, the review identifies critical research directions including LLMs deployment, 6G integration, neuromorphic computing, and quantum computing, offering a roadmap for addressing persistent challenges in heterogeneity management, real-time processing, and scalability. By bridging theoretical advancements and practical deployments, this survey offers researchers and practitioners a holistic perspective on leveraging AI to optimize distributed computing environments, fostering innovation in next-generation intelligent systems.

We introduce SRDrone, a novel system designed for self-refinement task planning in industrial-grade embodied drones. SRDrone incorporates two key technical contributions: First, it employs a continuous state evaluation methodology to robustly and accurately determine task outcomes and provide explanatory feedback. This approach supersedes conventional reliance on single-frame final-state assessment for continuous, dynamic drone operations. Second, SRDrone implements a hierarchical Behavior Tree (BT) modification model. This model integrates multi-level BT plan analysis with a constrained strategy space to enable structured reflective learning from experience. Experimental results demonstrate that SRDrone achieves a 44.87% improvement in Success Rate (SR) over baseline methods. Furthermore, real-world deployment utilizing an experience base optimized through iterative self-refinement attains a 96.25% SR. By embedding adaptive task refinement capabilities within an industrial-grade BT planning framework, SRDrone effectively integrates the general reasoning intelligence of Large Language Models (LLMs) with the stringent physical execution constraints inherent to embodied drones. Code is available at https://github.com/ZXiiiC/SRDrone.

--Despite extensive developments in motion planning of autonomous aerial vehicles (AA Vs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. T o address these challenges, we present TRUST -Planner, a topology-guided hierarchical planning framework for robust spatial-temporal obstacle avoidance. In the frontend, a dynamic enhanced visible probabilistic roadmap (DEV-PRM) is proposed to rapidly explore topological paths for global guidance. The backend utilizes a uniform terminal-free minimum control polynomial (UTF-MINCO) and dynamic distance field (DDF) to enable efficient predictive obstacle avoidance and fast parallel computation. Furthermore, an incremental multi-branch trajectory management framework is introduced to enable spatio-temporal topological decision-making, while efficiently leveraging historical information to reduce replanning time. Simulation results show that TRUST - Planner outperforms baseline competitors, achieving a 96% success rate and millisecond-level computation efficiency in tested complex environments. Real-world experiments further validate the feasibility and practicality of the proposed method. URRENTL Y, autonomous aerial vehicles (AA Vs) play an increasingly crucial role in widespread areas, e.g., transportation, search and rescue, and sightseeing [1]. With the deepening of these applications, AA Vs are required to operate in increasingly complex and dynamic flight environments, where moving obstacles, such as pedestrians, vehicles, and other AA Vs, present growing risks of collision [2].