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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

Author

Sören Schwertfeger

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Preprint Aug 2026

Robot-Body-Aware Traversal Risk Graph Planning for Wheeled-Legged Robots in Complex Terrain

Traversal Risk Graphs (TRGs) provide a compact, terrain-aware representation for global navigation, but native TRG costs are computed over circular node neighborhoods and edge-aligned terrain regions rather than the robot's oriented body footprint. For wheeled-legged robots, this abstraction can miss partial support lo...

Zhiqiao Guo, Bichi Zhang, Sören Schwertfeger · 1 citation
Preprint Aug 2026

Observation-Constrained Joint-Space Viewpoint Optimization for Robotic Inspection of Cylindrical Cavities

Inspection is a core capability in many mobile robotics applications, including industrial facility monitoring, infrastructure maintenance, agriculture, and search and rescue. Observing the bottom of a cylindrical cavity, as required by ASTM search-task benchmarks for response robots, presents a representative challeng...

Yue-Zhong Wang, Rong-Shen Yin, Bichi Zhang et al. · 0 citations

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