Abstract
Pickup and delivery problems are frequently encountered problems in transport companies. This paper presents a variant of the homogeneous vehicle, single-to-single Pickup and Delivery Problem with Time Windows, where several vehicles must fulfill transport requests from pickup nodes to delivery nodes, called missions, with associated service level agreements (SLA). A mathematical programming model is proposed to tackle this variant, focused on optimizing the allocation and sequencing of missions to be executed by autonomous vehicles. Numerical experiments are performed comparing instances with missions with long and short SLAs. The results show that the model takes longer to find the optimal solution when the missions have short SLAs and increased difficulty in meeting them if the number of vehicles is limited.

Abstract
Context. The GRAVITY beam-combiner at the Very Large Telescope Interferometer has recently made important contributions to many different fields of astronomy, from observations of the Galactic centre to the study of massive stars, young stellar objects, exoplanet atmospheres, and active galactic nuclei. These achievements were only made possible by the development of several key technologies, including the development of reliable and high-performance fringe trackers. These systems compensate for disturbances ranging from atmospheric turbulence to vibrations in the optical system, enabling long exposures and ensuring the stability of interferometric measurements. Aims. As part of the ongoing GRAVITY+ upgrade of the Very Large Telescope Interferometer infrastructure, we aim to improve the performance of the GRAVITY fringe tracker, and to enable its use by other instruments. Methods. We modified the group-delay controller to consistently maintain tracking in the white-light fringe, which is characterised by a minimum group delay. Additionally, we introduced a novel approach in which fringe-tracking is performed in the non-observable optical path length state-space using a covariance-weighted Kalman filter and an auto-regressive model of the disturbance. We outline this new state-space representation and the formalism we used to propagate the state vector and generate the control signal. While our approach is presented specifically in the context of GRAVITY/GRAVITY+, it can easily be adapted to other instruments or interfero-metric facilities. Results. We successfully demonstrate phase-delay tracking within a single fringe, with any spurious phase jumps detected and corrected in less than 100 ms. We also report a significant performance improvement, as shown by a reduction of similar to 30 to 40% in phase residuals, and a much better behaviour under sub-optimal atmospheric conditions. Compared to what was observed in 2019, the median residuals have decreased from 150 nm to 100 nm on the Auxiliary Telescopes and from 250 nm to 150 nm on the Unit Telescopes. Conclusions. The improved phase-delay tracking combined with white-light fringe tracking means that from now on, the GRAVITY fringe tracker can be used by other instruments operating in different wavebands. The only limitation remains the need for an adjustment of the optical path dispersion.

Abstract
Human-robot collaboration (HRC) is becoming increasingly important in advanced production systems, such as those used in industries and agriculture. This type of collaboration can contribute to productivity increase by reducing physical strain on humans, which can lead to reduced injuries and improved morale. One crucial aspect of HRC is the ability of the robot to follow a specific human operator safely. To address this challenge, a novel methodology is proposed that employs monocular vision and ultra-wideband (UWB) transceivers to determine the relative position of a human target with respect to the robot. UWB transceivers are capable of tracking humans with UWB transceivers but exhibit a significant angular error. To reduce this error, monocular cameras with Deep Learning object detection are used to detect humans. The reduction in angular error is achieved through sensor fusion, combining the outputs of both sensors using a histogram-based filter. This filter projects and intersects the measurements from both sources onto a 2D grid. By combining UWB and monocular vision, a remarkable 66.67% reduction in angular error compared to UWB localization alone is achieved. This approach demonstrates an average processing time of 0.0183s and an average localization error of 0.14 meters when tracking a person walking at an average speed of 0.21 m/s. This novel algorithm holds promise for enabling efficient and safe human-robot collaboration, providing a valuable contribution to the field of robotics.

Abstract

Abstract
Order picking has driven an increase in the number of logistics researchers. Robotics can help reduce the operational cost of such a process, eliminating the need for a human operator to perform trivial and dangerous tasks such as moving around the warehouse. However, for a mobile robot to perform such tasks, certain problems, such as defining the best path, must be solved. Among the most prominent techniques applied in the calculation of the trajectories of these robotic agents are potential fields and the A* algorithm. However, these techniques have limitations. This study aims to demonstrate a new approach based on the behavior of oceanic relief to map an environment that simulates a logistics warehouse, considering distance, safety, and efficiency in trajectory planning. In this manner, we seek to solve some of the limitations of traditional algorithms. We propose a new mapping technique for mobile robots, followed by a new trajectory planning approach.

Abstract
Natural gas (NG) is commonly used in kitchens, powering stoves, ovens, and other appliances. While it is known for its efficiency and convenience, NG contributes to the release of nitrogen dioxide (NO2) and can have significant implications for human health. In this study, the importance of the use of NG in kitchens on human exposure to NO2 was analyzed. An extensive literature review in the field was conducted, and the NO2 levels were assessed in kitchens with NG cookers in Aveiro and electric cookers in Porto, both in Portugal. Higher levels of NO2 were found in kitchens in Aveiro, where NO2 levels outdoors are lower than in Porto. This pollutant can spread to other rooms, especially when ventilation is lacking, which is particularly concerning during colder seasons and at night. As around 70% of the time is spent at home, this can have a significant impact on human exposure to NO2. Therefore, although Aveiro has low levels of NO2 outdoors, its population may be exposed to much higher levels of this pollutant than the Porto population, a city with air quality issues, but predominantly using electric cookers. This finding emphasizes the need for the stricter regulation of NG use indoors to protect human health and also suggests a shift in human health protection policies from mere monitoring/control of outdoor air quality to a comprehensive assessment of human exposure, including exposure to indoor air quality.