Bochen Yu | Searcharxiv

arXiv2026

Learning-Accelerated Optimization-based Trajectory Planning for Cooperative Aerial-Ground Handover Missions

This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While centralized trajectory optimization ensures dynamic feasibility and task optimality, its high computational cost limits real-time applicability. We propose a neural surrogate planner utilizing decoupled encoder-decoder long short-term memory (LSTM) networks to generate coordinated handover trajectory predictions from the task specifications. These predictions serve as informed warm starts for the downstream centralized optimizer, thereby accelerating convergence to dynamically feasible solutions. Benchmark evaluations demonstrate that the learning-augmented planning framework achieves more than a threefold speedup and 100% optimization success rate compared to cold start optimization. The results indicate that combining data-driven inference with model-based refinement enables fast and reliable trajectory generation for heterogeneous multi-robot systems.

cs.RO↗

arXiv2024

Nodeless superconductivity and topological nodal states in molybdenum carbide

The orthorhombic molybdenum carbide superconductor with $T_c$ = 3.2 K was investigated by muon-spin rotation and relaxation ($\mu$SR) measurements and by first-principle calculations. The low-temperature superfluid density, determined by transverse-field $\mu$SR, suggests a fully-gapped superconducting state in Mo$_2$C, with a zero-temperature gap $\Delta_0$ = 0.44 meV and a magnetic penetration depth $\lambda_0$ = 291 nm. The time-reversal symmetry is preserved in the superconducting state, as confirmed by the absence of an additional muon-spin relaxation in the zero-field $\mu$SR spectra. Band-structure calculations indicate that the density of states at the Fermi level is dominated by the Mo $4d$-orbitals, which are marginally hybridized with the C $2p$-orbitals over a wide energy range. The symmetry analysis confirms that, in the absence of spin-orbit coupling (SOC), Mo$_2$C hosts twofold-degenerate nodal surfaces and fourfold-degenerate nodal lines. When considering SOC, the fourfold-degenerate nodal lines cross the Fermi level and contribute to the electronic properties. Our results suggest that, similarly to other phases of carbides, also the orthorhombic transition-metal carbides host topological nodal states and may be potential candidates for future studies of topological superconductivity.

cond-mat.supr-con↗