Search Results (2,715)

The A* algorithm is a cornerstone in mobile robot navigation. However, the traditional A* suffers from key limitations such as poor path smoothness, lack of adaptability to dynamic environments, and high computational costs in large-scale maps. This review presents a comprehensive analysis of 20 recent studies (2020–2025) on improved A* variants and their hybrid integrations with complementary algorithms. The improvements are categorized into two core strategies: (i) geometric and structural optimization, heuristic weighting and adaptive search schemes in A* algorithm, and (ii) hybrid models combining A* with local planners such as Dynamic Window Approach (DWA), Artificial Potential Field (APF), and Particle Swarm Optimization (PSO). For each group, the mathematical formulations of evaluation functions, smoothing techniques, and constraint handling mechanisms are detailed. Notably, hybrid frameworks demonstrate improved robustness in dynamic or partially known environments by leveraging A* for global optimality and local planners for real-time adaptability. Case studies with simulated grid maps and benchmark scenarios show that even marginal improvements in path length can coincide with substantial gains in safety and directional stability. This review not only synthesizes the state of the art in A*-based planning but also outlines design principles for building intelligent, adaptive, and computationally efficient navigation systems. Full article

Urban expansion alters environmental conditions, influencing tree physiology and performance. Urban trees provide cooling, sequester carbon, support biodiversity, filter contaminants, and enhance human health. This study examines how two common urban trees—Norway Maple (Acer platanoides L.) and Little-leaved Linden (Tilia cordata Mill.)—respond to urban site conditions by assessing leaf morphology, stomatal, and gas exchange traits across street and urban park sites in Chicago, IL. Street trees exhibited structural trait adjustments, including smaller leaf area, reduced specific leaf area, and increased stomatal density, potentially reflecting acclimation to more compact and impervious conditions. Norway Maple showed stable photosynthetic assimilation (A), stomatal conductance (g_s), and transpiration (E) across sites, alongside higher intrinsic water-use efficiency (_iWUE), indicating a conservative water-use strategy. In contrast, Little-leaved Linden maintained A and g_s but showed elevated E and _iWUE at street sites, suggesting adaptive shifts in water-use dynamics under street microenvironments. These findings highlight how species-specific physiological strategies and local site conditions interact to shape tree function in cities and underscore the importance of incorporating functional traits into urban forestry planning to improve ecosystem services and climate resilience. Full article

In recent years, numerous constrained multi-objective evolutionary algorithms (CMOEAs) have been proposed to tackle constrained multi-objective optimization problems (CMOPs). However, most of them still struggle to achieve a good balance among convergence, diversity, and feasibility. To address this issue, we develop an adaptive constraint-boundary learning-based two-stage dual-population evolutionary algorithm for CMOPs, referred to as CL-TDEA. The evolutionary process of CL-TDEA is divided into two stages. In the first stage, two populations cooperate weakly through environmental selection to enhance the exploration ability of CL-TDEA under constraints. In particular, the auxiliary population employs an adaptive constraint-boundary learning mechanism to learn the constraint boundary, which in turn enables the main population to more effectively explore the constrained search space and cross infeasible regions. In the second stage, the cooperation between the two populations drives the search toward the complete constrained Pareto front (CPF) through mating selection. Here, the auxiliary population provides additional guidance to the main population, helping it escape locally feasible but suboptimal regions by means of the proposed cascaded multi-criteria hierarchical ranking strategy. Extensive experiments on 54 test problems from four benchmark suites and three real-world applications demonstrate that the proposed CL-TDEA exhibits superior performance and stronger competitiveness compared with several state-of-the-art methods. Full article

To capture bus passenger flow fluctuations and address the problems of slow convergence and high error in machine learning parameter optimization, this paper develops an improved Whale Optimization Algorithm (IWOA) integrated with a Bidirectional Gated Recurrent Unit (BiGRU). First, a Logistic–Tent chaotic mapping is introduced to generate a diverse and high-quality initial population. Second, a hybrid mechanism combining elite opposition-based learning and Cauchy mutation enhances population diversity and reduces premature convergence. Third, a cosine-based adaptive convergence factor and inertia weight strategy improve the balance between global exploration and local exploitation. Based on the correlation analysis between bus passenger flow and weather condition data in Harbin, and combined with the fluctuation characteristics of bus passenger flow, the data were divided into windows with a 7-day weekly cycle and processed by fuzzy information granulation to obtain three groups of fuzzy granulated window data, namely LOW, R, and UP, representing the fluctuation trend and spatial characteristics of bus passenger flow. The IWOA was employed to optimize and solve parameters such as the hidden layer weights and bias vectors of the BiGRU, thereby constructing a bus passenger flow fluctuation trend and spatial prediction model based on FIG-IWOA-BiGRU. Simulation experiments with 21 benchmark functions and real bus data verified its effectiveness. Results show that IWOA significantly improves optimization accuracy and convergence speed. For bus passenger flow forecasting, the average MAE, RMSE, and MAPE of LOW, R, and UP data are 2915, 3075, and 8.1%, representing improvements over existing classical models. The findings provide reliable decision support for bus scheduling and passenger travel planning. Full article

This study investigates sustainability-oriented design and production practices in Slovenia, focusing on brand-led approaches grounded in local innovation, cultural heritage and community engagement. Through mapping of Slovenian fashion enterprises, the research identifies and analyzes core sustainability and circularity strategies including zero- and low-waste design, recycling, upcycling and the development of adaptable, long-lasting garments. Further attention is given to participatory design methods involving consumers, the strategic social media use for community building and service-based circular economy models such as lifetime garment repair. Technological and production innovations, localized supply chains and small-scale production models are assessed for their role in reducing environmental impact and advancing sustainable supply chain management. The study also analyzes initiatives to shorten the fashion loop, including dematerialization and production minimization, as pathways to reduce resource consumption. Methodologically, the study combines empirical fieldwork, participant observation and literature review to deliver a comprehensive analysis of Slovenia’s sustainable fashion sector. The findings contribute to the global discourse on regional and place-based sustainability in fashion demonstrating how design-driven, small- and medium-sized enterprises can integrate circular economy principles, cultural continuity and collaborative innovation to foster environmentally responsible and socially embedded fashion. Full article

Wireless Sensor Networks (WSNs) consist of numerous battery-powered sensor nodes that operate with limited energy, computation, and communication capabilities. Designing routing strategies that are both energy-efficient and attack-resilient is essential for extending network lifetime and ensuring secure data delivery. This paper proposes Adaptive Federated Reinforcement Learning-Hunger Games Search (AFRL-HGS), a Hybrid Routing framework that integrates multiple advanced techniques. At the node level, tabular Q-learning enables each sensor node to act as a reinforcement learning agent, making next-hop decisions based on discretized state features such as residual energy, distance to sink, congestion, path quality, and security. At the network level, Federated Reinforcement Learning (FRL) allows the sink node to aggregate local Q-tables using adaptive, energy- and performance-weighted contributions, with Polyak-based blending to preserve stability. The binary Hunger Games Search (HGS) metaheuristic initializes Cluster Head (CH) selection and routing, providing a well-structured topology that accelerates convergence. Security is enforced as a constraint through a lightweight trust and anomaly detection module, which fuses reliability estimates with residual-based anomaly detection using Exponentially Weighted Moving Average (EWMA) on Round-Trip Time (RTT) and loss metrics. The framework further incorporates energy-accounted control plane operations with dual-format HELLO and hierarchical ADVERTISE/Service-ADVERTISE (SrvADVERTISE) messages to maintain the routing tables. Evaluation is performed in a hybrid testbed using the Graphical Network Simulator-3 (GNS3) for large-scale simulation and Kali Linux for live adversarial traffic injection, ensuring both reproducibility and realism. The proposed AFRL-HGS framework offers a scalable, secure, and energy-efficient routing solution for next-generation WSN deployments. Full article

Bioclimatic design, rooted in vernacular architecture, aims to create buildings that harmonise with their local climate and context. Over the past five decades, continuous advancements have strengthened its foundation for climate-responsive architecture. However, the development of bioinspired thinking extends new opportunities to enhance ecological sustainability and innovation in bioclimatic design. This study introduces Bioinspired Climatic Design (BCD) as an advancement of bioclimatic design, integrating ecological processes, human behaviour, and high-resolution climate data to create sustainable, climate-responsive low-carbon architecture. Focusing on residential buildings in hot–humid climates, it categorises BCD strategies into primary and modifying adaptive approaches, examined through four case studies using observation and spatial analysis. Findings emphasise the importance of aligning design with climate, ecology, and occupant behaviour to achieve low-carbon, resilient architecture, especially in challenging conditions. The research calls for a paradigm shift from conventional climate-responsive design towards a holistic, ecologically integrated framework for future-oriented built environments. Full article

To address the ill-posedness of the Hessian matrix in monocular visual-inertial SLAM (Simultaneous Localization and Mapping) caused by unobservable depth of feature points, which leads to convergence difficulties and reduced robustness, this paper proposes a Pre-Dog-Leg feature optimization method based on an adaptive preconditioner. First, we propose a multi-candidate initialization method with robust characteristics. This method effectively circumvents erroneous depth initialization by introducing multiple depth assumptions and geometric consistency constraints. Second, we address the pathology of the Hessian matrix of the feature points by constructing a hybrid SPAI-Jacobi adaptive preconditioner. This preconditioner is capable of identifying matrix pathology and dynamically enabling preconditioning as a strategy. Finally, we construct a hybrid adaptive preconditioner for the traditional Dog-Leg numerical optimization method. To address the issue of degraded convergence performance when solving pathological problems, we map the pathological optimization problem from the original parameter space to a well-conditioned preconditioned space. The optimization equivalence is maintained by variable recovery. The experiments on the EuRoC dataset show that the method reduces the number of Hessian matrix conditionals by a factor of 7.9, effectively suppresses outliers, and significantly improves the overall convergence time. From the analysis of trajectory error, the absolute trajectory error is reduced by up to 16.48% relative to RVIO2 on the MH_01 sequence, 20.83% relative to VINS-mono on the MH_02 sequence, and up to 14.73% relative to VINS-mono and 34.0% relative to OpenVINS on the highly dynamic MH_05 sequence, indicating that the algorithm achieves higher localization accuracy and stronger system robustness. Full article

This study reconstructs seven decades (1949–2019) of morphodynamic changes and sediment dynamics in the Diable River (Québec, Canada) using nine series of aerial photographs, a high-resolution LiDAR Digital Elevation Model (2021), and grain-size analysis. The objectives were to document long-term river evolution, quantify erosion and deposition, and evaluate sediment connectivity between eroding sandy bluffs and depositional zones. Planform analysis and sediment budgets derived from DEMs of Difference (DoD) reveal an oscillatory trajectory characterized by alternating phases of sediment export and temporary stabilization, rather than a simple trend of degradation or aggradation. The most dynamic interval (1980–2001) was marked by widespread meander migration and the largest net export (−142.5 m³/km/year), whereas the 2001–2007 interval showed net storage (+70.8 m³/km/year) and short-term geomorphic recovery. More recent floods (2017, 2019; 20–50-year return periods) induced localized but persistent sediment loss, underlining the structuring role of extreme events. Grain-size results indicate partial connectivity: coarse fractions tend to remain in local depositional features, while finer sediments are preferentially exported downstream. These findings emphasize the geomorphic value of temporary sediment sinks (bars, beaches) and highlight the need for adaptive river management strategies that integrate sediment budgets and local knowledge into floodplain governance. Full article

Relation extraction in the equipment domain often exhibits asymmetric patterns, where entities participate in multiple overlapping relations that break the expected structural symmetry of semantic associations. Such asymmetry increases task complexity and reduces extraction accuracy in conventional approaches. To address this issue, we propose a symmetry- and asymmetry-aware dual-path retrieval and in-context learning-based large language model. Specifically, the BGE-M3 embedding model is fine-tuned for domain-specific adaptation, and a multi-level retrieval database is constructed to capture both global semantic symmetry at the sentence level and local asymmetric interactions at the relation level. A dual-path retrieval strategy, combined with Reciprocal Rank Fusion, integrates these complementary perspectives, while task-specific prompt templates further enhance extraction accuracy. Experimental results demonstrate that our method not only mitigates the challenges posed by overlapping and asymmetric relations but also leverages the latent symmetry of semantic structures to improve performance. Experimental results show that our approach effectively mitigates challenges from overlapping and asymmetric relations while exploiting latent semantic symmetry, achieving an F1-score of 88.53%, a 1.86% improvement over the strongest baseline (GPT-RE). Full article

Effective production control requires aligning strategic planning with real-time execution under dynamic and stochastic conditions. This study proposes a scalable dual-agent Deep Reinforcement Learning (DRL) framework for the joint optimisation of Work-In-Process (WIP) control and job sequencing in flow-shop environments. A strategic DQN agent regulates global WIP to meet throughput targets, while a tactical DQN agent adaptively selects dispatching rules at the machine level on an event-driven basis. Parameter sharing in the tactical agent ensures inherent scalability, overcoming the combinatorial complexity of multi-machine scheduling. The agents coordinate indirectly via a shared simulation environment, learning to balance global stability with local responsiveness. The framework is validated through a discrete-event simulation integrating agent-based modelling, demonstrating consistent performance across multiple production scales (5–15 machines) and process time variabilities. Results show that the approach matches or surpasses analytical benchmarks and outperforms static rule-based strategies, highlighting its robustness, adaptability, and potential as a foundation for future Hierarchical Reinforcement Learning applications in manufacturing. Full article

Identifying concealed explosives in X-ray backscatter (XRBS) imagery remains a critical challenge, primarily due to low image contrasts, cluttered backgrounds, small object sizes, and limited structural details. To address these limitations, we propose YOLOv11-XRBS, an enhanced detection framework tailored to the characteristics of XRBS images. A dedicated dataset (SBCXray) comprising over 10,000 annotated images of simulated explosive scenarios under varied concealment conditions was constructed to support training and evaluation. The proposed framework introduces three targeted improvements: (1) adaptive architectural refinement to enhance multi-scale feature representation and suppress background interference, (2) a Size-Aware Focal Loss (SaFL) strategy to improve the detection of small and weak-feature objects, and (3) a recomposed loss function with scale-adaptive weighting to achieve more accurate bounding box localization. The experiments demonstrated that YOLOv11-XRBS achieves better performance compared to both existing YOLO variants and classical detection models such as Faster R-CNN, SSD512, RetinaNet, DETR, and VGGNet, achieving a mean average precision (mAP) of 94.8%. These results confirm the robustness and practicality of the proposed framework, highlighting its potential deployment in XRBS-based security inspection systems. Full article

Urban climate readiness requires multi-dimensional implementation strategies that operate effectively across both spatial scales and time horizons. This article introduces a multi-scale, phased model designed to support integrated climate action by distinguishing between metropolitan and building levels and addressing three core domains: physical resilience, decarbonization, and social/community engagement. The framework conceptualizes metropolitan and building scales as analytically distinct but operationally linked, allowing strategies to reflect the different systems, stakeholders, and capacities at each level. It also outlines a three-phase progression—Initial (assessment and goal setting), Readiness (planning and implementation), and Steady-State (monitoring and iterative adjustment)—to support staged, adaptive deployment. Each phase includes sample metrics and SMART goals that can be tailored to local context and tracked over time. By integrating theoretical insights with practical implementation tools, the framework offers a flexible yet rigorous approach for advancing urban sustainability. It emphasizes the importance of aligning technical interventions with institutional capacity and community participation to enhance effectiveness and equity. This model contributes to both planning theory and applied sustainability efforts by providing a structured pathway for cities to enhance climate readiness across systems and scales. Full article

Multi-robot motion planning (MRMP) requires each robot to possess strong local planning capabilities while maintaining global consistency. However, existing research often fails to address both global and local planning simultaneously, resulting in conflicts in real-time path execution. The A* algorithm is widely used for global path planning due to its adaptability and search efficiency, while the Timed Elastic Band (TEB) algorithm excels in local trajectory optimization and real-time dynamic obstacle avoidance. This paper presents a novel motion planning framework integrating an improved A* algorithm with an enhanced TEB strategy to address both levels of planning collaboratively. The proposed improvements include the introduction of steering costs and dynamic weights into the A* algorithm to enhance path smoothness and efficiency, and a hierarchical obstacle treatment in TEB for improved local avoidance. Simulation and real-world experiments conducted with ROS confirmed the feasibility and effectiveness of the method. Compared to the traditional A* algorithm, the proposed framework reduces the average path length by 5.2%, shortens completion time by 11.5%, and decreases inflection points by 66.7%, demonstrating superior performance for multi-robot systems in dynamic environments. Full article

Indoor positioning remains a recurrent and significant challenge in research. Unlike outdoor environments, where the Global Positioning System (GPS) provides reliable location information, indoor scenarios lack direct line-of-sight to satellites or cellular towers, rendering GPS inoperative and requiring alternative positioning techniques. Despite numerous approaches, indoor contexts with resource limitations, energy constraints, or physical restrictions continue to suffer from unreliable localization. Many existing methods employ a fixed number of reference anchors, which sets a hard balance between localization accuracy and energy consumption, forcing designers to choose between precise location data and battery life. As a response to this challenge, this paper proposes an energy-aware indoor positioning strategy based on Mobile Ad Hoc Networks (MANETs). The core principle is a self-adaptive control loop that continuously monitors the network’s positioning accuracy. Based on this real-time feedback, the system dynamically adjusts the number of active anchors, increasing them only when accuracy degrades and reducing them to save energy once stability is achieved. The method dynamically estimates relative coordinates by analyzing node encounters and contact durations, from which relative distances are inferred. Generalized Multidimensional Scaling (GMDS) is applied to construct a relative spatial map of the network, which is then transformed into absolute coordinates using reference nodes, known as anchors. The proposal is evaluated in a realistic simulated indoor MANET, assessing positioning accuracy, adaptation dynamics, anchor sensitivity, and energy usage. Results show that the adaptive mechanism achieves higher accuracy than fixed-anchor configurations in most cases, while significantly reducing the average number of required anchors and their associated energy footprint. This makes it suitable for infrastructure-poor, resource-constrained indoor environments where both accuracy and energy efficiency are critical. Full article