Yu-Xuan Zhou¹, Kai-Qing Zhou^1,*, Wei-Lin Chen¹, Zhou-Hua Liao¹, Di-Wen Kang^1,2

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.075099 - 10 February 2026

Abstract The Pigeon-Inspired Optimization (PIO) algorithm constitutes a metaheuristic method derived from the homing behaviour of pigeons. Initially formulated for three-dimensional path planning in unmanned aerial vehicles (UAVs), the algorithm has attracted considerable academic and industrial interest owing to its effective balance between exploration and exploitation, coupled with advantages in real-time performance and robustness. Nevertheless, as applications have diversified, limitations in convergence precision and a tendency toward premature convergence have become increasingly evident, highlighting a need for improvement. This review systematically outlines the developmental trajectory of the PIO algorithm, with a particular focus on its core… More >

Lishu Qin^*, Yu Gao, Xinyuan Lu

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.074739 - 10 February 2026

Abstract With the rapid development of intelligent navigation technology, efficient and safe path planning for mobile robots has become a core requirement. To address the challenges of complex dynamic environments, this paper proposes an intelligent path planning framework based on grid map modeling. First, an improved Safe and Smooth A* (SSA*) algorithm is employed for global path planning. By incorporating obstacle expansion and corner-point optimization, the proposed SSA* enhances the safety and smoothness of the planned path. Then, a Partitioned Dynamic Window Approach (PDWA) is integrated for local planning, which is triggered when dynamic or sudden… More >

Zhendong Du^*, Hanliu Wang, Kenji Hashimoto

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.074520 - 10 February 2026

Abstract Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models (LLMs) possess genuine structural reasoning capabilities beyond lexical memorization. When predicates and action names are replaced with semantically irrelevant random symbols while preserving logical structures, existing direct generation approaches exhibit severe performance degradation. This paper proposes a symbol-agnostic closed-loop planning pipeline that enables models to construct executable plans through systematic validation and iterative refinement. The system implements a complete generate-verify-repair cycle through six core processing components: semantic comprehension extracts structural constraints, language planner generates text plans, symbol translator performs structure-preserving mapping,… More >

Junnian Wang¹, Xiaoxia Wang¹, Zexin Luo¹, Qixiang Ouyang¹, Chao Zhou¹, Huanyu Wang^2,*

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.074473 - 10 February 2026

Abstract Internet of Things (IoTs) devices are bringing about a revolutionary change our society by enabling connectivity regardless of time and location. However, The extensive deployment of these devices also makes them attractive victims for the malicious actions of adversaries. Within the spectrum of existing threats, Side-Channel Attacks (SCAs) have established themselves as an effective way to compromise cryptographic implementations. These attacks exploit unintended, unintended physical leakage that occurs during the cryptographic execution of devices, bypassing the theoretical strength of the crypto design. In recent times, the advancement of deep learning has provided SCAs with a… More >

Argho Dey¹, Yunfei Yin^1,2,*, Zheng Yuan¹, Zhiwen Zeng¹, Xianjian Bao³, Md Minhazul Islam¹

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.074122 - 10 February 2026

Abstract Autonomous vehicles rely heavily on accurate and efficient scene segmentation for safe navigation and efficient operations. Traditional Bird’s Eye View (BEV) methods on semantic scene segmentation, which leverage multimodal sensor fusion, often struggle with noisy data and demand high-performance GPUs, leading to sensor misalignment and performance degradation. This paper introduces an Enhanced Channel Attention BEV (ECABEV), a novel approach designed to address the challenges under insufficient GPU memory conditions. ECABEV integrates camera and radar data through a de-noise enhanced channel attention mechanism, which utilizes global average and max pooling to effectively filter out noise while… More >

Jian Huang¹, Mingwei Li¹, Yulong Tian¹, Yi Yao², Hao Han^1,*

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.073201 - 10 February 2026

Abstract With the popularization of new technologies, telephone fraud has become the main means of stealing money and personal identity information. Taking inspiration from the website authentication mechanism, we propose an end-to-end data modem scheme that transmits the caller’s digital certificates through a voice channel for the recipient to verify the caller’s identity. Encoding useful information through voice channels is very difficult without the assistance of telecommunications providers. For example, speech activity detection may quickly classify encoded signals as non-speech signals and reject input waveforms. To address this issue, we propose a novel modulation method based… More >

Jianing Wu¹, Yufeng Chen^1,*, Li Yin¹, Huajun He², Panshuan Jin²

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.072937 - 10 February 2026

Abstract To conduct marine surveys, multiple unmanned surface vessels (Multi-USV) with different capabilities perform collaborative mapping in multiple designated areas. This paper proposes a task allocation algorithm based on integer linear programming (ILP) with flow balance constraints, ensuring the fair and efficient distribution of sub-areas among USVs and maintaining strong connectivity of assigned regions. In the established grid map, a search-based path planning algorithm is performed on the sub-areas according to the allocation scheme. It uses the greedy algorithm and the A* algorithm to achieve complete coverage of the barrier-free area and obtain an efficient trajectory More >

Hui Chen¹, Mohammed A. H. Ali^1,*, Bushroa Abd Razak¹, Zhenya Wang², Yusoff Nukman¹, Shikai Zhang¹, Zhiwei Huang¹, Ligang Yao³, Mohammad Alkhedher⁴

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2026.065539 - 10 February 2026

Abstract Most existing path planning approaches rely on discrete expansions or localized heuristics that can lead to extended re-planning, inefficient detours, and limited adaptability to complex obstacle distributions. These issues are particularly pronounced when navigating cluttered or large-scale environments that demand both global coverage and smooth trajectory generation. To address these challenges, this paper proposes a Wave Water Simulator (WWS) algorithm, leveraging a physically motivated wave equation to achieve inherently smooth, globally consistent path planning. In WWS, wavefront expansions naturally identify safe corridors while seamlessly avoiding local minima, and selective corridor focusing reduces computational overhead in More >

N’Landu Dikumbwa^1,*, Scott Tshibang Nawej², Gabriel Mutundo Teteka², Benjamin Mayaka Kibwila³, Jules Aloni Komanda³

Revue Internationale de Géomatique, Vol.35, pp. 13-30, 2026, DOI:10.32604/rig.2026.068019 - 05 February 2026

Abstract Rainfall data from four weather stations, quite far from each other, but located in the Zambezian phytogeographic region, were analysed for the research for indices of climate change. Two variables, rainfall and the annual number of rainy days, were considered. The rainfall data examined are 114 years for Luanda (1901–2014), 106 years for Lubumbashi (1916–2021), respectively, 54 and 41 years for Huambo (1961–2014) and Boma (1981–2021); 100 years (1921–2021) for the annual number of rainy days for only the Lubumbashi weather station. The results were a widespread decline in rainfall at all weather stations. Despite… More >

Adolfo Amador Mendoza^1,*, Rosalba Guadalupe Gomez Raymundo², Ana Rosa Ramírez Seañez¹, Hipolito Hernández Hernández¹, Rogelio Enrrique Palacios Torres¹, Nelda Xanath Martínez Galero³, Miguel Ángel García Muñoz³, Saribel Zilli Gutiérrez^4,*

Phyton-International Journal of Experimental Botany, Vol.95, No.1, 2026, DOI:10.32604/phyton.2025.073856 - 30 January 2026

Abstract The cultivation of Soledad pepper (Capsicum annuum L.) is essential in Oaxaca and Veracruz, but it faces issues with pests and diseases, which affect yield and cause economic losses. To mitigate these impacts, farmers have started using biostimulants such as chitosan and plant growth promoting bacteria instead of agrochemicals due to their environmental and health benefits. This study evaluated the effect of Bacillus subtilis and chitosan, both individually and combined, on the growth, yield, and fruit quality of Soledad pepper under greenhouse conditions. Four treatments were applied at different stages of the crop cycle: Q (Chitosan), BS (Bacillus More >