Abstract
Time series data are essential for a wide range of applications, yet access to high-quality datasets is often constrained by privacy concerns, acquisition costs, and labeling challenges. Synthetic time series generation has emerged as a promising approach to address these limitations. In this work, we investigate the use of complex network mappings for synthetic time series generation, focusing on the Quantile Graph (QG) representation and its inverse. While the inverse QG mapping has been previously proposed, its potential as a general-purpose data generator has not been systematically evaluated. We address this gap through a comprehensive empirical study assessing both the fidelity and utility of synthetic time series generated by the Inverse Quantile Graph (InvQG) framework. The evaluation combines statistical feature analysis, network-based topological characteristics, and performance in downstream clustering and classification tasks, using simulated and real-world datasets. The results show that InvQG effectively preserves marginal distributions and short-term temporal dependencies across a wide range of models, while exhibiting predictable limitations in capturing long-range or higher-order dynamics.

Abstract
Efficient task allocation and coordination are critical for heterogeneous multi-agent systems operating in dynamic field environments. This paper presents a closed-loop framework that integrates Large Language Models (LLMs) with graph-based optimisation to enable end-to-end task decomposition, allocation, and adaptive execution. High-level task scripts are initially parsed by an LLM into structured execution flows, which are transformed into Directed Acyclic Graphs (DAGs) capturing action-level dependencies. A Genetic Algorithm (GA) then optimises agent-to-task assignments by minimising makespan under capability and battery constraints. To ensure robustness, the framework incorporates an LLM-driven recovery module that enables localised replanning under execution failures without interrupting unaffected agents. System-level experiments in a high-fidelity agroforestry simulation demonstrate a 37% increase (p<0.001) in harvesting productivity and a 19% reduction in human idle time compared to manual baselines. Under mid-execution failures, the system maintains significantly higher performance, with replanning latencies averaging 24 s. The framework scales to large fleets (up to 1000 agents) and effectively enhances human-robot collaboration through structured, dependency-aware coordination.

Abstract
Hexapod robots, with their six-legged design, excel in stability and adaptability on challenging terrain but pose significant control challenges due to their high degrees of freedom. While reinforcement learning (RL) has been explored for robot navigation, few studies have systematically compared on-policy and off-policy methods for multi-legged locomotion. This work presents a comparative study of SARSA and Q-Learning for trajectory control of a simulated hexapod robot, focusing on the influence of learning rate (alpha), discount factor (gamma), and eligibility trace (lambda). The evaluation spans eight initial poses, with performance measured through lateral deviation (Ey), orientation error (E theta), and iteration count. Results show that Q-Learning generally achieves faster convergence and greater stability, particularly with higher gamma and lambda values, while SARSA can achieve competitive accuracy with careful parameter tuning. The findings demonstrate that eligibility traces substantially improve learning precision and provide practical guidelines for robust RL-based control in multi-legged robotic systems.

Abstract

Abstract
This study presents a methodology for forecasting municipal water consumption to support efficient resource management. Using monthly data from 2018 to 2022 for the municipality of Vouzela, Portugal, three forecasting approaches were evaluated: SARIMA, Holt-Winters, and TimeGPT. Data preparation included logarithmic transformation and stationarity assessment using the KPSS test, ensuring appropriate conditions for statistical modelling. The SARIMA model was selected automatically based on the Akaike Information Criterion (AIC), while the Holt-Winters method was fitted with additive components and a Box-Cox transformation. In addition, TimeGPT was employed as a state-of-the-art foundation model for time series forecasting. The three methods were used to predict water consumption for the 12 months of 2023, and their performance was assessed using MAE, MSE, RMSE and MAPE. Results indicate that although all methods perform adequately, Holt-Winters and TimeGPT better capture recent consumption dynamics, providing more accurate forecasts in several periods. Overall, this study shows that combining classical statistical models with advanced forecasting techniques offers local authorities reliable and computationally accessible tools to support water supply planning and sustainability.

Abstract