ETRI JournalPub Date : 2026-10-20Epub Date: 2026-10-06DOI: 10.4218/etrij.2026-0245
Hanseob Lee, Hoon Jung
{"title":"LLM-guided semantic-aware trajectory optimization for UAV path planning using environmental context","authors":"Hanseob Lee, Hoon Jung","doi":"10.4218/etrij.2026-0245","DOIUrl":"https://doi.org/10.4218/etrij.2026-0245","url":null,"abstract":"<p>Autonomous unmanned aerial vehicle path planning in urban environments requires both geometric safety and semantic awareness. Conventional planners based on fixed costs or predefined risk models struggle to reflect mission-dependent semantic priorities. We present a large language model (LLM)-guided semantic-aware planning framework in which the LLM serves as a bounded high-level decision module. OpenStreetMap data are transformed into class-wise semantic potential fields, and a route-relative context and natural-language mission description are used to infer validated semantic modulation coefficients. A deterministic B-spline optimizer generates smooth paths by jointly considering multiple factors. Comparisons with existing models demonstrate a competitive tradeoff between path efficiency and semantic safety. Mission-conditioned experiments reveal that different mission descriptions produce distinct semantic policies and path geometries under identical environmental conditions. Reliability analysis indicates that the deterministic downstream planner maintains stable safety-related performance under context perturbations and stochastic LLM outputs.</p>","PeriodicalId":11901,"journal":{"name":"ETRI Journal","volume":"48 5","pages":"896-910"},"PeriodicalIF":2.0,"publicationDate":"2026-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.4218/etrij.2026-0245","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149222794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Full-Polarization Group-Fusion Detection of Marine Small Targets Using Improved SVDD Classifier","authors":"Sainan Shi, Jiajun Wang, Jie Wang, Tao Li","doi":"10.1109/taes.2026.3745296","DOIUrl":"https://doi.org/10.1109/taes.2026.3745296","url":null,"abstract":"","PeriodicalId":13157,"journal":{"name":"IEEE Transactions on Aerospace and Electronic Systems","volume":"75 1","pages":""},"PeriodicalIF":4.4,"publicationDate":"2026-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149226309","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tong Wang, Zhixiang Wang, Yingbo Lu, Fan Zhang, Ya Liu, Panfeng Huang
{"title":"Persistent Monitoring in 3-D Environment using Cooperative UAV and UGV with Limited Detection, Movement and Endurance Abilities","authors":"Tong Wang, Zhixiang Wang, Yingbo Lu, Fan Zhang, Ya Liu, Panfeng Huang","doi":"10.1109/taes.2026.3745498","DOIUrl":"https://doi.org/10.1109/taes.2026.3745498","url":null,"abstract":"","PeriodicalId":13157,"journal":{"name":"IEEE Transactions on Aerospace and Electronic Systems","volume":"1 1","pages":""},"PeriodicalIF":4.4,"publicationDate":"2026-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149226311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Bio-Inspired Learning for Multi-UAV Cooperative Maneuvering Decisions Under Communication Denial","authors":"Huaxin Qiu, Xingshuo Hai, Xiaoman Zhang, Yangzhu Wang, Ke Li, Changyun Wen","doi":"10.1109/taes.2026.3745721","DOIUrl":"https://doi.org/10.1109/taes.2026.3745721","url":null,"abstract":"","PeriodicalId":13157,"journal":{"name":"IEEE Transactions on Aerospace and Electronic Systems","volume":"5 1","pages":""},"PeriodicalIF":4.4,"publicationDate":"2026-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149226324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Feasibility Analysis of Sampled-Data Control Design for Switched Nonlinear Systems Under Stability and Safety Constraints","authors":"Qian Liu, Xiaoli Li","doi":"10.1109/tie.2026.3741215","DOIUrl":"https://doi.org/10.1109/tie.2026.3741215","url":null,"abstract":"","PeriodicalId":13402,"journal":{"name":"IEEE Transactions on Industrial Electronics","volume":"13 1","pages":""},"PeriodicalIF":7.7,"publicationDate":"2026-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149226359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Enhanced Roughness-Matching Precision for Random Grating Textures at a 1.0-mm Mean Wavelength.","authors":"Ai Kurita, Shogo Okamoto","doi":"10.1109/TOH.2026.3745360","DOIUrl":"https://doi.org/10.1109/TOH.2026.3745360","url":null,"abstract":"<p><p>Natural surfaces contain local spatial irregularities, yet tactile texture perception has often been characterized in terms of mean geometric properties. It remains unclear whether information associated with such irregularities improves roughness-matching precision when the mean spatial scale of a texture is varied. We compared roughness-matching precision between physically fabricated periodic and random gratings with nominal mean wavelengths of 1.0 and 2.0 mm. Participants selected, from a set of test gratings, the stimulus whose roughness they perceived as closest to that of a reference. Matching precision was quantified for each participant and condition using the standard deviation of the nominal wavelengths selected across repeated trials, with a smaller standard deviation indicating more precise roughness matching. At the nominal mean wavelength of 1.0 mm, the standard deviation was significantly smaller for the random gratings than for the periodic gratings. No significant difference was observed at 2.0 mm. These findings suggest that information contained in the 1.0-mm random gratings beyond their mean wavelength may have contributed to roughness matching precision.</p>","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2026-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149227765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tayo Obafemi-Ajayi, Amanda M. Horzyk, Keeley Crockett, Chiara Gallese, Maja Nišević, Asim Roy, Jose M. Alonso-Moral, Christos Christodoulopoulos, Paul Grefen, Michael van Hartskamp, Alan Perotti, Gianmaria Silvello, Steph Wright
{"title":"Exploring AI Law and Ethics in Practice: From Algorithms to Accountability [Trustworthy and Responsible AI]","authors":"Tayo Obafemi-Ajayi, Amanda M. Horzyk, Keeley Crockett, Chiara Gallese, Maja Nišević, Asim Roy, Jose M. Alonso-Moral, Christos Christodoulopoulos, Paul Grefen, Michael van Hartskamp, Alan Perotti, Gianmaria Silvello, Steph Wright","doi":"10.1109/mci.2026.3729296","DOIUrl":"https://doi.org/10.1109/mci.2026.3729296","url":null,"abstract":"","PeriodicalId":55027,"journal":{"name":"IEEE Computational Intelligence Magazine","volume":"89 1","pages":""},"PeriodicalIF":9.0,"publicationDate":"2026-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149226136","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}