Search Results (853)

This work explores the application of robotic systems in archaeology, highlighting their transformative role in excavation, documentation, and the preservation of cultural heritage. By combining technologies such as LiDAR, GIS, 3D modeling, sonar, and other sensors with autonomous and semi-autonomous platforms, archaeologists can now reach inaccessible sites, automate artifact analysis, and reconstruct fragmented remains with greater precision. The study provides a systematic overview of underwater, aerial, terrestrial, and other robotic systems, drawing on scientific literature that showcases their innovative use in both fieldwork and museum settings. Selected examples illustrate how robotics is being applied to solve key archaeological challenges in new and effective ways. While the paper emphasizes the potential of these technologies, it also addresses their technical, economic, and ethical limitations, concluding that successful adoption depends on interdisciplinary collaboration, careful implementation, and a balanced respect for cultural integrity. Full article

Coastal erosion poses an acute threat to cultural heritage resources, particularly in island contexts where erosional and degradational threats can be amplified by increased exposure and sea-level changes. We present a generalizable, best-practice approach that integrates multi-temporal, multi-resolution, and inconsistently ground-controlled data to demonstrate how suites of remotely sensed data can be integrated under real-world constraints. This approach is used to conduct a longitudinal analysis of cultural resources on the island of Inishark, Western Ireland. Results show evidence of significant and potentially accelerating shoreline erosion and structural loss within the past century, with rates of erosion ranging from 0.15 to 0.3 m/year along shorelines and 3–5 m²/year for structures. Outcomes demonstrate the utility and importance of an integrative data approach for cultural resource management. Full article

Unmanned Aerial Vehicles (UAVs) have rapidly grown into different essential applications, including surveillance, disaster response, agriculture, and urban monitoring. However, for UAVS to steer safely and autonomously, the ability to detect obstacles and nearby aircraft remains crucial, especially under hard environmental conditions. This study comprehensively analyzes the recent landscape of obstacle and aircraft detection techniques tailored for UAVs acting in difficult scenarios such as fog, rain, smoke, low light, motion blur, and disorderly environments. It starts with a detailed discussion of key detection challenges and continues with an evaluation of different sensor types, from RGB and infrared cameras to LiDAR, radar, sonar, and event-based vision sensors. Both classical computer vision methods and deep learning-based detection techniques are examined in particular, highlighting their performance strengths and limitations under degraded sensing conditions. The paper additionally offers an overview of suitable UAV-specific datasets and the evaluation metrics generally used to evaluate detection systems. Finally, the paper examines open problems and coming research directions, emphasising the demand for lightweight, adaptive, and weather-resilient detection systems appropriate for real-time onboard processing. This study aims to guide students and engineers towards developing stronger and intelligent detection systems for next-generation UAV operations. Full article

To meet the requirements of the high spatiotemporal three-dimensional (3D) airflow field within the glide path corridor during carrier-based aircraft/unmanned aerial vehicles (UAVs) landings, this paper proposes a prediction method for high spatiotemporal resolution 3D ship airwake along the glide path by integrating computational fluid dynamics (CFD), backpropagation (BP) neural network, and Doppler wind lidar (DWL). Firstly, taking the conceptual design aircraft carrier model as the research object, CFD numerical simulations of the ship airwake within the glide path region are carried out using the Poly-Hexcore grid and the detached eddy simulation (DES)/the Reynolds-averaged Navier–Stokes (RANS) turbulence models. Then, using the high spatial resolution ship airwake along the glide path obtained from steady RANS computations under different inflow conditions as a sample dataset, the BP neural network prediction models were trained and optimized. Along the ideal glide path within 200 m behind the stern, the correlation coefficients between the predicted results of the BP neural network and the headwind, crosswind, and vertical wind of the testing samples exceeded 0.95, 0.91, and 0.82, respectively. Finally, using the inflow speed and direction with high temporal resolution from the bow direction obtained by the shipborne DWL as input, the BP prediction models can achieve accurate prediction of the 3D ship airwake along the glide path with high spatiotemporal resolution (3 m, 3 Hz). Full article

The present paper deals with an inhabited, creeping mountainous landmass with profound surface deformation that affects the local community. The scope of the paper is to gather surficial and subsurface information in order to understand the parameters of this creeping mass, which is usually affected by several parameters, such as its geometry, subsurface water, and shear zone. Therefore, a combined aerial and surface investigation has been conducted. The aerial investigation involves UAV’s LiDAR acquisition for the terrain model and a comparison of historical aerial photographs for land use changes. The multi-technique surface investigation included resistivity (ERT) and seismic (SRT, MASW) measurements and density determination of geological formations. This combination of methods proved to be fruitful since several aspects of the landslide were clarified, such as water flow paths, the internal geological structure of the creeping mass, and its geometrical extent. The depth of the shear zone of the creeping mass is delineated at the first five to ten meters from the surface, especially from the difference in diachronic resistivity change. Full article

Autonomous drones may be called on to perform search-and-rescue operations in environments without access to signals from the global navigation satellite system (GNSS), such as underground mines, subterranean caverns, or confined tunnels. While technology to perform such missions has been demonstrated at events such as DARPA’s Subterranean (Sub-T) Challenge, the hardware deployed for these missions relies on heavy and expensive sensors, such as LiDAR, carried by costly mobile platforms, such as legged robots and heavy-lift multicopters, creating barriers for deployment and training with this technology for all but the wealthiest search-and-rescue organizations. To address this issue, we have developed a custom four-rotor aerial drone platform specifically built around low-cost low-weight sensors in order to minimize costs and maximize flight time for search-and-rescue operations in GNSS-denied environments. We document the various issues we encountered during the building and testing of the vehicle and how they were solved, for instance a novel redesign of the airframe to handle the aggressive yaw maneuvers commanded by the FUEL exploration framework running onboard the drone. The resulting system is successfully validated through a hardware autonomous flight experiment performed in an underground environment without access to GNSS signals. The contribution of the article is to share our experiences with other groups interested in low-cost search-and-rescue drones to help them advance their own programs. Full article

Autonomous earthwork machinery is gaining traction as a means to boost productivity and safety on space-constrained urban sites, yet the fast-growing literature has not been fully integrated. To clarify current knowledge, we systematically searched Scopus and screened 597 records, retaining 157 peer-reviewed papers (2015–March 2025) that address autonomy, integrated control, or risk mitigation for excavators, bulldozers, and loaders. Descriptive statistics, VOSviewer mapping, and qualitative synthesis show the output rising rapidly and peaking at 30 papers in 2024, led by China, Korea, and the USA. Four tightly linked themes dominate: perception-driven machine autonomy, IoT-enabled integrated control systems, multi-sensor safety strategies, and the first demonstrations of fleet-level collaboration (e.g., coordinated excavator clusters and unmanned aerial vehicle and unmanned ground vehicle (UAV–UGV) site preparation). Advances include centimeter-scale path tracking, real-time vision-light detection and ranging (LiDAR) fusion and geofenced safety envelopes, but formal validation protocols and robust inter-machine communication remain open challenges. The review distils five research priorities, including adaptive perception and artificial intelligence (AI), digital-twin integration with building information modeling (BIM), cooperative multi-robot planning, rigorous safety assurance, and human–automation partnership that must be addressed to transform isolated prototypes into connected, self-optimizing fleets capable of delivering safer, faster, and more sustainable urban construction. Full article

Accurate biomass estimation is important for forest management and climate change mitigation. This study evaluates the potential of using LiDAR (Light Detection and Ranging) data, acquired through Unmanned Aerial Vehicles (UAVs), for estimating above-ground and total biomass in Eucalyptus globulus and Pinus pinaster stands in central and northern Portugal. The acquired LiDAR point clouds were processed to extract structural metrics such as canopy height, crown area, canopy density, and volume. A multistep variable selection procedure was applied to reduce collinearity and select the most informative predictors. Multiple linear regression (MLR) models were developed and validated using field inventory data. Random Forest (RF) models were also tested for E. globulus, enabling a comparative evaluation between parametric and machine learning regression models. The results show that the 25th height percentile, canopy cover density at two meters, and height variance demonstrated an accurate biomass estimation for E. globulus, with coefficients of determination (R²) varying between 0.86 for MLR and 0.90 for RF. Although RF demonstrated a similar predictive performance, MLR presented advantages in terms of interpretability and computational efficiency. For P. pinaster, only MLR was applied due to the limited number of field data, yet R² exceeded 0.80. Although absolute errors were higher for Pinus pinaster due to greater biomass variability, relative performance remained consistent across species. The results demonstrate the feasibility and efficiency of UAV LiDAR point cloud data for stand-level biomass estimation, providing simple and effective models for biomass estimation in these two species. Full article

Principal component analysis (PCA) is a widely applied multivariate statistical technique across scientific disciplines, with forestry being one of its most dynamic areas of use. Its primary strength lies in reducing data dimensionality and classifying parameters within complex ecological datasets. This study provides the first comprehensive bibliometric and literature review focused exclusively on PCA applications in forestry. A total of 96 articles published between 1993 and 2024 were analyzed using the Web of Science database and visualized using VOSviewer software, version 1.6.20. The bibliometric analysis revealed that the most active scientific fields were environmental sciences, forestry, and engineering, and the most frequently published journals were Forests and Sustainability. Contributions came from 198 authors across 44 countries, with China, Spain, and Brazil identified as leading contributors. PCA has been employed in a wide range of forestry applications, including species classification, biomass modeling, environmental impact assessment, and forest structure analysis. It is increasingly used to support decision-making in forest management, biodiversity conservation, and habitat evaluation. In recent years, emerging research has demonstrated innovative integrations of PCA with advanced technologies such as hyperspectral imaging, LiDAR, unmanned aerial vehicles (UAVs), and remote sensing platforms. These integrations have led to substantial improvements in forest fire detection, disease monitoring, and species discrimination. Furthermore, PCA has been combined with other analytical methods and machine learning models—including Lasso regression, support vector machines, and deep learning algorithms—resulting in enhanced data classification, feature extraction, and ecological modeling accuracy. These hybrid approaches underscore PCA’s adaptability and relevance in addressing contemporary challenges in forestry research. By systematically mapping the evolution, distribution, and methodological innovations associated with PCA, this study fills a critical gap in the literature. It offers a foundational reference for researchers and practitioners, highlighting both current trends and future directions for leveraging PCA in forest science and environmental monitoring. Full article

Debris flows pose significant risks to mountainous regions, and quick, accurate volume estimation is crucial for hazard assessment and post-disaster response. Traditional volume estimation methods, such as ground surveys and aerial photogrammetry, are often limited by cost, accessibility, and timeliness. While remote sensing offers wide coverage, existing optical and Synthetic Aperture Radar (SAR)-based techniques face challenges in direct volume estimation due to resolution constraints and rapid terrain changes. This study proposes a Super-Resolution Shape from Shading (SRSFS) approach enhanced by a Non-local Piecewise-smooth albedo Constraint (NPC), hereafter referred to as NPC SRSFS, to estimate debris-flow erosion volume using single high-resolution optical satellite imagery. By integrating publicly available global Digital Elevation Model (DEM) data as prior terrain reference, the method enables accurate post-disaster topography reconstruction from a single optical image, thereby reducing reliance on stereo imagery. The NPC constraint improves the robustness of albedo estimation under heterogeneous surface conditions, enhancing depth recovery accuracy. The methodology is evaluated using Gaofen-6 satellite imagery, with quantitative comparisons to aerial Light Detection and Ranging (LiDAR) data. Results show that the proposed method achieves reliable terrain reconstruction and erosion volume estimates, with accuracy comparable to airborne LiDAR. This study demonstrates the potential of NPC SRSFS as a rapid, cost-effective alternative for post-disaster debris-flow assessment. Full article

Low-altitude unmanned aerial vehicle (UAV) vision is critically hindered by the Sim-to-Real Gap, where models trained exclusively on simulation data degrade under real-world variations in lighting, texture, and weather. To address this problem, we propose RA3T (Region-Aligned 3D Transformer), a novel self-supervised framework that enables robust Sim-to-Real adaptation. Specifically, we first develop a dual-branch strategy for self-supervised feature learning, integrating Masked Autoencoders and contrastive learning. This approach extracts domain-invariant representations from unlabeled simulated imagery to enhance robustness against occlusion while reducing annotation dependency. Leveraging these learned features, we then introduce a 3D Transformer fusion module that unifies multi-view RGB and LiDAR point clouds through cross-modal attention. By explicitly modeling spatial layouts and height differentials, this component significantly improves recognition of small and occluded targets in complex low-altitude environments. To address persistent fine-grained domain shifts, we finally design region-level adversarial calibration that deploys local discriminators on partitioned feature maps. This mechanism directly aligns texture, shadow, and illumination discrepancies which challenge conventional global alignment methods. Extensive experiments on UAV benchmarks VisDrone and DOTA demonstrate the effectiveness of RA3T. The framework achieves +5.1% mAP on VisDrone and +7.4% mAP on DOTA over the 2D adversarial baseline, particularly on small objects and sparse occlusions, while maintaining real-time performance of 17 FPS at 1024 × 1024 resolution on an RTX 4080 GPU. Visual analysis confirms that the synergistic integration of 3D geometric encoding and local adversarial alignment effectively mitigates domain gaps caused by uneven illumination and perspective variations, establishing an efficient pathway for simulation-to-reality UAV perception. Full article

In the case of forest inventory, heterogeneous areas are particularly challenging due to variability in vegetation structure. This is especially true in Galicia (northwest Spain), where land is highly fragmented, complicating the planning and management of single-species plantations such as Pinus radiata. This study proposes a cost-effective strategy using open-access tools and data to characterize and estimate wood volume in these plantations. Two stratification approaches—classical and cluster-based—were compared to a modeling method based on Principal Component Analysis (PCA). Data came from open-access national LiDAR point clouds, acquired using manned aerial vehicles under the Spanish National Aerial Orthophoto Plan (PNOA). Moreover, two volume estimation methods were applied: one from the Xunta de Galicia (XdG) and another from Spain’s central administration (4IFN). A Generalized Linear Model (GLM) was also fitted using PCA-derived variables with logarithmic transformation. The results show that although overall volume estimates are similar across methods, cluster-based stratification yielded significantly lower absolute errors per hectare (XdG: 28.04 m³/ha vs. 44.07 m³/ha; 4IFN: 25.64 m³/ha vs. 38.22 m³/ha), improving accuracy by 7% over classical stratification. Moreover, it does not require precise field parcel locations, unlike PCA modeling. Both official volume estimation methods tended to overestimate stock by about 10% compared to PCA. These results confirm that clustering offers a practical, low-cost alternative that improves estimation accuracy by up to 18 m³/ha in fragmented forest landscapes. Full article

Residual dry matter (RDM) is a term used in rangeland management to describe the non-photosynthetic plant material left on the soil surface at the end of the growing season. RDM measurements are used by agencies and conservation entities for managing grazing and fire fuels. Measuring the RDM using traditional methods is labor-intensive, costly, and subjective, making consistent sampling challenging. Previous studies have assessed the use of multispectral remote sensing to estimate the RDM, but with limited success across space and time. The existing approaches may be improved through the use of spectroscopic (hyperspectral) sensors, capable of capturing the cellulose and lignin present in dry grass, as well as Unmanned Aerial Vehicle (UAV)-mounted Light Detection and Ranging (LiDAR) sensors, capable of capturing centimeter-scale 3D vegetation structures. Here, we evaluate the relationships between the RDM and spectral and LiDAR data across the Jack and Laura Dangermond Preserve (Santa Barbara County, CA, USA), which uses grazing and prescribed fire for rangeland management. The spectral indices did not correlate with the RDM (R² < 0.1), likely due to complete areal coverage with dense grass. The LiDAR canopy height models performed better for all the samples (R² = 0.37), with much stronger performance (R² = 0.81) when using a stratified model to predict the RDM in plots with predominantly standing (as opposed to laying) vegetation. This study demonstrates the potential of UAV LiDAR for direct RDM quantification where vegetation is standing upright, which could help improve RDM mapping and management for rangelands in California and beyond. Full article

Camera-centric perception has matured into a cornerstone of modern autonomy, from self-driving cars and factory cobots to underwater and planetary exploration. This review synthesizes more than a decade of progress in vision-based robotic navigation through an engineering lens, charting the full pipeline from sensing to deployment. We first examine the expanding sensor palette—monocular and multi-camera rigs, stereo and RGB-D devices, LiDAR–camera hybrids, event cameras, and infrared systems—highlighting the complementary operating envelopes and the rise of learning-based depth inference. The advances in visual localization and mapping are then analyzed, contrasting sparse and dense SLAM approaches, as well as monocular, stereo, and visual–inertial formulations. Additional topics include loop closure, semantic mapping, and LiDAR–visual–inertial fusion, which enables drift-free operation in dynamic environments. Building on these foundations, we review the navigation and control strategies, spanning classical planning, reinforcement and imitation learning, hybrid topological–metric memories, and emerging visual language guidance. Application case studies—autonomous driving, industrial manipulation, autonomous underwater vehicles, planetary rovers, aerial drones, and humanoids—demonstrate how tailored sensor suites and algorithms meet domain-specific constraints. Finally, the future research trajectories are distilled: generative AI for synthetic training data and scene completion; high-density 3D perception with solid-state LiDAR and neural implicit representations; event-based vision for ultra-fast control; and human-centric autonomy in next-generation robots. By providing a unified taxonomy, a comparative analysis, and engineering guidelines, this review aims to inform researchers and practitioners designing robust, scalable, vision-driven robotic systems. Full article

In recent decades, climate change has led to more frequent episodes of extreme rainfall, increasing the risk of river flooding. Streams and rivers characterized by short flow times are subject to rapid and impressive floods; for this reason, the modeling of their beds is of fundamental importance for the execution of hydraulic calculations capable of predicting the flow rates and identifying the points where floods may occur. In the context of studies conducted on three watercourses in Calabria (Italy), different survey and restitution techniques were used (aerial LiDAR, terrestrial laser scanner, GNSS, photogrammetry). By integrating these methodologies, multi-resolution models were generated, featuring a horizontal accuracy of ±16 cm and a vertical accuracy of ±15 cm. These models form the basis for the hydraulic calculations performed. The results demonstrate the feasibility of producing accurate models that are compatible with the memory and processing capabilities of modern computers. Furthermore, the technique set up and implemented for the refined representation of both the models and the effects predicted by hydraulic calculations in the event of exceptional rainfall (such as flow, speed, flooded areas, and critical points along riverbanks) serves as a valuable tool for improving hydrogeological planning, designing appropriate defense works, and preparing evacuation plans in case of emergency, all with the goal of mitigating hydrogeological risk. Full article