Abstract
Human oversight can benefit scenarios with complex tasks, such as pallet docking and loading and unloading containers, beyond the current capabilities of autonomous systems without any failures. Furthermore, teleoperation systems allow remote control of mobile ground robots, especially with the surge of 5G technology that promises reliable and low latency communication. Current works research on exploring the latest features from the 5G standard, including ultra-Reliable Low-Latency Communication (uRLLC) and network slicing. However, these features may not be available depending on the Internet Service Provider (ISP) and communication devices. Thus, this work proposes a network architecture for the teleoperation of ground mobile robots in industrial environments using commercially available devices over the 5G Non-Standalone (NSA) standard. Experimental results include an evaluation of the network and End-to-End (E2E) latency of the proposed system. The results show that the proposed architecture enables teleoperation, achieving an average E2E latency of 347.19 ms.

Abstract
This paper discusses the emerging field of robotics, particularly focusing on motion planning for robotic manipulators. It highlights the need for simplification and standardization in robot implementation processes. Among several tools available, the paper focuses on the MoveIt tool due to its compatibility, popularity, and community contributions. However, the paper acknowledges some resistance in developing new applications with MoveIt, especially for researchers and beginners. To address this, the paper introduces an efficient, modular action server for interacting with the MoveIt framework. This pipeline simplifies parameter reconfiguration and provides a general solution for the motion planning problem. It can calculate trajectories for robotic manipulators without environmental collisions using a single server request and supports operation in different modes. The server was tested on an Universal Robots UR10 manipulator, demonstrating its ability to quickly plan paths for two test operations: an object pick-and-place mission and a collision avoidance test. The results were positive, achieving the set goals with minimal user-server interaction. This work represents a significant step towards more efficient and user-friendly robotic manipulation.

Abstract
A significant challenge in asset management is the selection of investment projects for infrastructures, which often relies on subjective judgement and lacks structured decision support methods. This challenge is particularly complex in water systems due to the diverse and heterogeneous nature of the components requiring investment. While the infrastructure value index (IVI) is widely used to characterise assets and support investment decisions in the water sector, its application in optimisation models for generating efficient project portfolios remains unexplored. To address this research gap, this study introduces optimisation models for generating investment portfolio plans in water systems' asset management. The proposed approach includes two mixed-integer linear programming (MILP) models that determine optimal solutions and an evolutionary algorithm that offers sub-optimal alternative investment selection plans to provide decision-makers with additional choices for balancing optimal outcomes. The primary contribution of this research is the combined utilisation of MILP and evolutionary algorithms, integrating the IVI into the decision-making process. These tools provide decision-makers with structured methods for defining investment plans and minimising the subjective elements typically associated with such processes. To illustrate the effectiveness of the models, a case study is presented involving a pumping station of a Portuguese water company. The results demonstrate the practical application and benefits of the proposed approach in optimising investment decisions. This research contributes to advancing asset management practices by integrating quantitative optimisation techniques and leveraging the IVI, thereby enhancing the objectivity and efficiency of investment planning in water systems' asset management.

Abstract
In this paper, a solution to monitor the location of humans during their activity in the agriculture sector with the aim to boost productivity and efficiency is provided. Our solution is based on map-matching methods, that are used to track the path spanned by a worker along a specific activity in an agriculture culture. Two different cultures are taken into consideration in this study olives and vines. We leverage the symmetry of the geometry of these cultures into our solution and divide the problem three-fold initially, we estimate a path of a worker along the fields, then we apply the map-matching to such path and finally, a post-processing method is applied to ensure local continuity of the sequence obtained from map-matching. The proposed methods are experimentally evaluated using synthetic and real data in the region of Mirandela, Portugal. Evaluation metrics show that results for synthetic data are robust under several sampling periods, while for real-world data, results for the vine culture are on par with synthetic, and for the olive culture performance is reduced.

Abstract
Mobile robot platforms capable of operating safely and accurately in dynamic environments can have a multitude of applications, ranging from simple delivery tasks to advanced assembly operations. These abilities rely heavily on a robust navigation stack, which requires stable and accurate pose estimations within the environment. The wide range of AMR's applications and the characteristics of multiple industrial environments (indoor and outdoor) have led to the development of a flexible and robust robot software architecture that allows the fusion of different data sensors in real time. In this way, and in terms of localization, AMRs have greater precision when it comes to uncontrolled and unstructured environments. These complex environments feature a variety of dynamic and unpredictable elements, such as variable layouts, limited visibility, unstructured spaces, and uncertain terrain. This paper presents a multi-localization system for industrial mobile robots in complex and dynamic industrial scenarios, based on different localization technologies and methods that can interact together and simultaneously.

Abstract
The rapid proliferation of Internet of Things (IoT) systems, encompassing a wide range of devices and sensors with limited battery life, has highlighted the critical need for energy-efficient solutions to extend the operational lifespan of these battery-powered devices. One effective strategy for reducing energy consumption is minimizing the number and size of retransmitted packets in case of communication errors. Among the potential solutions, Incremental Redundancy Hybrid Automatic Repeat reQuest (IR-HARQ) communication schemes have emerged as particularly compelling options by adopting the best aspects of error control, namely, automatic repetition and variable redundancy. This work addresses the challenge by developing a simulator capable of executing and analysing several (H)ARQ schemes using different channel models, such as the Additive White Gaussian Noise (AWGN) and Gilbert-Elliott (GE) models. The primary objective is to compare their performance across multiple metrics, enabling a thorough evaluation of their capabilities. The results indicate that IR-HARQ outperforms alternative methods, especially in the presence of burst errors. Furthermore, its potential for further adaptation and enhancement opens up new ways for optimizing energy consumption and extending the lifespan of battery-powered IoT devices.