Search Results (38)

Air-to-ground visual target persistent tracking technology for swarm drones, as a crucial interdisciplinary research area integrating computer vision, autonomous systems, and swarm collaboration, has gained increasing prominence in anti-terrorism operations, disaster relief, and other emergency response applications. While recent advancements have predominantly concentrated on improving long-term visual tracking through image algorithmic optimizations, insufficient exploration has been conducted on developing system-level persistent tracking architectures, leading to a high target loss rate and limited tracking endurance in complex scenarios. This paper designs an asynchronous multi-task parallel architecture for drone-based long-term tracking in air-to-ground scenarios, and improves the persistent tracking capability from three levels. At the image algorithm level, a long-term tracking system is constructed by integrating existing object detection YOLOv10, multi-object tracking DeepSort, and single-object tracking ECO algorithms. By leveraging their complementary strengths, the system enhances the performance of the detection and multi-object tracking while mitigating model drift in single-object tracking. At the drone system level, ground target absolute localization and geolocation-based drone spiral tracking strategies are conducted to improve target reacquisition rates after tracking loss. At the swarm collaboration level, an autonomous task allocation algorithm and relay tracking handover protocol are proposed, further enhancing the long-term tracking capability of swarm drones while boosting their autonomy. Finally, a practical swarm drone system for persistent air-to-ground visual tracking is developed and validated through extensive flight experiments under diverse scenarios. Results demonstrate the feasibility and robustness of the proposed persistent tracking framework and its adaptability to wild real-world applications. Full article

To overcome the limitations of conventional methods, this study developed a novel aerial-ground collaborative framework for multi-dimensional quality assessment of asphalt pavement. The quality inspection of asphalt pavement in the whole construction process is realized. Multiple non-destructive testing (NDT) techniques were integrated, including drone-based infrared thermography, ground-penetrating radar (GPR), and a nuclear-free density gauge. Results showed a strong correlation (R² > 0.95) between the radar-derived dielectric constant and core samples, enabling rapid, full-coverage characterization. The density gauge achieved less than 3% error. Furthermore, a compactness prediction model based on the dielectric constant and an air void content evaluation model based on temperature parameters are further constructed. This system enables aerial screening, point verification, and ground diagnosis, significantly enhancing inspection efficiency and comprehensiveness. Full article

Urban logistics in smart cities are increasingly challenged by congestion, sustainability pressures, and the growing demand for resilient delivery systems. To address these challenges, this study introduces the Multi-Visit Time-Dependent Truck–Drone Routing Problem with simultaneous Pickup and Delivery (MTTRP-PD), a novel framework that integrates three realistic features: (i) drones serving multiple customers per sortie, (ii) time-dependent truck speeds reflecting dynamic traffic conditions, and (iii) synchronized pickup and delivery between trucks and drones. By incorporating these elements, the proposed model provides a more realistic and comprehensive representation of urban air-ground collaborative logistics in the last mile. An optimization framework and an efficient solution approach are developed and validated through computational experiments. The results demonstrate that enabling multi-visit sortie and simultaneous pickup–delivery operations can significantly reduce logistics costs compared with conventional single-visit or delivery-only strategies. Sensitivity analyses further reveal the critical influence of dynamic traffic conditions on fleet configuration and operational decision making. The findings offer actionable insights for logistics operators and policymakers, illustrating how coordinated UAV–truck collaboration can enhance efficiency, resilience, and environmental sustainability in next-generation urban logistics systems. Full article

In this paper, we propose a cooperative security method for unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) based on the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithm to address the scenario of unauthorized rogue drones (RDs) intruding into an airport’s restricted airspace. The proposed method integrates artificial intelligence techniques with engineering solutions to enhance the autonomy and effectiveness of air–ground cooperation in airport security. Specifically, the MADDPG algorithm enables the Security Interception UAVs (SI-UAVs) to autonomously detect and counteract RDs by optimizing their decision-making processes in a multi-agent environment. Additionally, Particle Swarm Optimization (PSO) is employed for distance-based target assignment, allowing each SI-UAV to autonomously select intruder targets based on proximity. To address the challenge of limited SI-UAV flight range, a power replenishment mechanism is introduced, where each SI-UAV automatically returns to the nearest UGV for recharging after reaching a predetermined distance. Meanwhile, UGVs perform ground patrols across different airport critical zones (e.g., runways and terminal perimeters) according to pre-designed patrol paths. The simulation results demonstrate the feasibility and effectiveness of the proposed security strategy, showing improvements in the reward function and the number of successful interceptions. This approach effectively solves the problems of target allocation and limited SI-UAV range in multi-SI-UAV-to-multi-RD scenarios, further enhancing the autonomy and efficiency of air–ground cooperation in ensuring airport security. Full article

The escalating demand for sustainable development in the built environment necessitates the integration of innovative, system-based assessment tools. This study investigates the role of energy efficiency (EE) within a nature-inspired sustainability assessment framework, drawing from biomimicry principles to evaluate green building practices in South Africa. Grounded in the ethos of nature’s efficiency, such as closed-loop energy systems, passive energy use, efficiency through form and function, and decentralised and localised energy generation, this study identifies and prioritises key EE criteria, including efficient energy management, renewable energy optimisation, passive heating, ventilation and air conditioning (HVAC) systems, and energy-saving technologies. Using the Analytic Hierarchy Process (AHP), this research engaged 38 highly experienced, practising, and registered construction professionals to perform pairwise comparisons of EE criteria. Results revealed that efficient energy management (29.8%) emerged as the most significant factor, followed closely by energy-saving equipment (26.4%), with strong expert consensus (consistency ratio = 0.03). The findings reflect a convergence of ecological wisdom and industry expertise, suggesting that nature’s design strategies offer a compelling roadmap for achieving sustainable energy performance in buildings. This study reinforces the applicability of biomimicry in shaping context-specific sustainability metrics and informs the development of adaptive, ecologically aligned certification frameworks. This study recommends the integration of these EE criteria into building rating systems, fostering interdisciplinary collaboration, and scaling nature-based frameworks to inform global sustainability practice. By bridging theory and application, this study advances a regenerative approach to construction that aligns with the UN Sustainable Development Goals and long-term environmental resilience. Full article

As a pioneering solution for precision agriculture, unmanned, robotics-centred greenhouse farms have become a key technological pathway for intelligent upgrades. The robotic arm is the core unit responsible for achieving full automation, and the level of technological development of this unit directly affects the productivity and intelligence of these farms. This review aims to systematically analyze the current applications, challenges, and future trends of robotic arms and their key technologies within unmanned greenhouse. The paper systematically classifies and compares the common types of robotic arms and their mobile platforms used in greenhouses. It provides an in-depth exploration of the core technologies that support efficient manipulator operation, focusing on the design evolution of end-effectors and the perception algorithms for plants and fruit. Furthermore, it elaborates on the framework for integrating individual robots into collaborative systems analyzing typical application cases in areas such as plant protection and fruit and vegetable harvesting. The review concludes that greenhouse robotic arm technology is undergoing a profound transformation evolving from single-function automation towards system-level intelligent integration. Finally, it discusses the future development directions highlighting the importance of multi-robot systems, swarm intelligence, and air-ground collaborative frameworks incorporating unmanned aerial vehicles (UAVs) in overcoming current limitations and achieving fully autonomous greenhouses. Full article

Forest and grassland fire behavior prediction is increasingly critical under climate change, as rising fire frequency and intensity threaten ecosystems and human societies worldwide. This paper reviews the status and future development trends of wildfire behavior modeling and prediction technologies. It provides a comprehensive overview of the evolution of models from empirical to physical and then to data-driven approaches, emphasizing the integration of multidisciplinary techniques such as machine learning and deep learning. While conventional physical models offer mechanistic insights, recent advancements in data-driven models have enabled the analysis of big data to uncover intricate nonlinear relationships. We underscore the necessity of integrating multiple models via complementary, weighted fusion and hybrid methods to bolster robustness across diverse situations. Ultimately, we advocate for the creation of intelligent forecast systems that leverage data from space, air and ground sources to provide multifaceted fire behavior predictions in regions and globally. Such systems would more effectively transform fire management from a reactive approach to a proactive strategy, thereby safeguarding global forest carbon sinks and promoting sustainable development in the years to come. By offering forward-looking insights and highlighting the importance of multidisciplinary approaches, this review serves as a valuable resource for researchers, practitioners, and policymakers, supporting informed decision-making and fostering interdisciplinary collaboration. Full article

Vertiports, as the foundational ground infrastructure for Urban Air Mobility (UAM), have garnered increasing scholarly attention in recent years. To examine how the existing literature has reviewed and summarized vertiport-related knowledge, this study conducts a bibliometric analysis of publications (2000–2024) from four major databases, including Web of Science and Scopus, using VOSviewer and CiteSpace. By analyzing co-citation and keyword co-occurrence patterns, the results suggest that vertiport research frontiers are shifting toward facility location, network planning, airspace and scheduling management, scalable infrastructure, and integration with ground transport systems. Scholars and institutions in the United States, China, Europe, and South Korea have taken leading roles in advancing this field, though collaboration among research organizations still requires strengthening. Overall, the findings reveal future research pathways and provide support for the planning and integration of vertiport infrastructure in UAM operations. Full article

Unmanned aerial vehicle (UAV) hyperspectral remote sensing imaging systems have demonstrated significant potential for water quality monitoring. However, accurately obtaining water-leaving reflectance from UAV imagery remains challenging due to complex atmospheric radiation transmission above water bodies. This study proposes a method for water-leaving reflectance inversion based on air–ground collaborative correction. A fully connected neural network model was developed using TensorFlow Keras to establish a non-linear mapping between UAV hyperspectral reflectance and the measured near-water and water-leaving reflectance from ground-based spectral. This approach addresses the limitations of traditional linear correction methods by enabling spatiotemporal synchronization correction of UAV remote sensing images with ground observations, thereby minimizing atmospheric interference and sensor differences on signal transmission. The retrieved water-leaving reflectance closely matched measured data within the 450–900 nm band, with the average spectral angle mapping reduced from 0.5433 to 0.1070 compared to existing techniques. Moreover, the water quality parameter inversion models for turbidity, color, total nitrogen, and total phosphorus achieved high determination coefficients (R² = 0.94, 0.93, 0.88, and 0.85, respectively). The spatial distribution maps of water quality parameters were consistent with in situ measurements. Overall, this UAV hyperspectral remote sensing method, enhanced by air–ground collaborative correction, offers a reliable approach for UAV hyperspectral water quality remote sensing and promotes the advancement of stereoscopic water environment monitoring. Full article

UAV delivery and ground transfer scheduling in emergency scenarios represent critical technological systems for enhancing disaster response capabilities and safeguarding lives and property. This study systematically reviews recent advances across eight core research domains: UAV emergency delivery systems, ground–air integrated transportation coordination, emergency logistics optimization, UAV path planning and scheduling algorithms, collaborative optimization between ground vehicles and UAVs, emergency response decision support systems, low-altitude economy and urban air traffic management, and intelligent transportation system integration. Research findings indicate that UAV delivery technologies in emergency contexts have evolved from single-aircraft applications to intelligent multi-modal collaborative systems, demonstrating significant advantages in medical supply distribution, disaster relief, and search-and-rescue operations. Current technological development exhibits four major trends: hybrid optimization algorithms, multi-UAV cooperation, artificial intelligence enhancement, and real-time adaptation capabilities. However, critical challenges persist, including regulatory framework integration, adverse weather adaptability, cybersecurity protection, human–machine interface design, cost–benefit assessment, and standardization deficiencies. Future research should prioritize distributed decision architectures, robustness optimization, cross-domain collaboration mechanisms, emerging technology integration, and practical application validation. This comprehensive review provides systematic theoretical foundations and practical guidance for emergency management agencies in formulating technology development strategies, enterprises in investment planning, and research institutions in determining research priorities. Full article

Autonomous navigation for unmanned vehicles in complex, unstructured environments remains challenging, especially in GPS-denied or obstacle-dense scenarios, limiting their practical deployment in logistics, inspection, and emergency response applications. To overcome these limitations, this paper presents a tightly integrated air-ground collaborative system comprising three key components: (1) an aerial perception module employing a YOLOv8-based vision system onboard the UAV to generate real-time global obstacle maps; (2) a low-latency communication module utilizing FAST DDS middleware for reliable air-ground data transmission; and (3) a ground navigation module implementing an A* algorithm for optimal path planning coupled with closed-loop control for precise trajectory execution. The complete system was physically implemented using cost-effective hardware and experimentally validated in cluttered environments. Results demonstrated successful UGV autonomous navigation and obstacle avoidance relying exclusively on UAV-provided environmental data. The proposed framework offers a practical, economical solution for enabling robust UGV operations in challenging real-world conditions, with significant potential for diverse industrial applications. Full article

Accurate and timely land monitoring is crucial for addressing global environmental, economic, and societal challenges, including climate change, sustainable development, and disaster mitigation. While single-source remote sensing data offers significant capabilities, inherent limitations such as cloud cover interference (optical), speckle noise (radar), or limited spectral information (LiDAR) often hinder comprehensive and robust characterization of land surfaces. Recent advancements in synergistic harmonization technology for land monitoring, along with enhanced signal processing techniques and the integration of machine learning algorithms, have significantly broadened the scope and depth of geosciences. Therefore, it is essential to summarize the comprehensive applications of synergistic harmonization technology for geosciences, with a particular focus on recent advancements. Most of the existing review papers focus on the application of a single technology in a specific area, highlighting the need for a comprehensive review that integrates synergistic harmonization technology. This review provides a comprehensive review of advancements in land monitoring achieved through the synergistic harmonization of optical, radar, and LiDAR satellite technologies. It details the unique strengths and weaknesses of each sensor type, highlighting how their integration overcomes individual limitations by leveraging complementary information. This review analyzes current data harmonization and preprocessing techniques, various data fusion levels, and the transformative role of machine learning and deep learning algorithms, including emerging foundation models. Key applications across diverse domains such as land cover/land use mapping, change detection, forest monitoring, urban monitoring, agricultural monitoring, and natural hazard assessment are discussed, demonstrating enhanced accuracy and scope. Finally, this review identifies persistent challenges such as technical complexities in data integration, issues with data availability and accessibility, validation hurdles, and the need for standardization. It proposes future research directions focusing on advanced AI, novel fusion techniques, improved data infrastructure, integrated “space–air–ground” systems, and interdisciplinary collaboration to realize the full potential of multi-sensor satellite data for robust and timely land surface monitoring. Supported by deep learning, this synergy will improve our ability to monitor land surface conditions more accurately and reliably. Full article

The primary challenge that robots face in disaster rescue is to precisely and efficiently construct disaster maps and achieve autonomous navigation. This paper proposes a method for air–ground collaborative map construction. It utilizes the flight capability of an unmanned aerial vehicle (UAV) to achieve rapid three-dimensional space coverage and complex terrain crossing for rapid and efficient map construction. Meanwhile, it utilizes the stable operation capability of an unmanned ground vehicle (UGV) and the ground detail survey capability to achieve precise map construction. The maps constructed by the two are accurately integrated to obtain precise disaster environment maps. Among them, the map construction and positioning technology is based on the FAST LiDAR–inertial odometry 2 (FAST-LIO2) framework, enabling the robot to achieve precise positioning even in complex environments, thereby obtaining more accurate point cloud maps. Before conducting map fusion, the point cloud is preprocessed first to reduce the density of the point cloud and also minimize the interference of noise and outliers. Subsequently, the coarse and fine registrations of the point clouds are carried out in sequence. The coarse registration is used to reduce the initial pose difference of the two point clouds, which is conducive to the subsequent rapid and efficient fine registration. The coarse registration uses the improved sample consensus initial alignment (SAC-IA) algorithm, which significantly reduces the registration time compared with the traditional SAC-IA algorithm. The precise registration uses the voxelized generalized iterative closest point (VGICP) algorithm. It has a faster registration speed compared with the generalized iterative closest point (GICP) algorithm while ensuring accuracy. In reinforcement learning navigation, we adopted the deep deterministic policy gradient (DDPG) path planning algorithm. Compared with the deep Q-network (DQN) algorithm and the A* algorithm, the DDPG algorithm is more conducive to the robot choosing a better route in a complex and unknown environment, and at the same time, the motion trajectory is smoother. This paper adopts Gazebo simulation. Compared with physical robot operation, it provides a safe, controllable, and cost-effective environment, supports efficient large-scale experiments and algorithm debugging, and also supports flexible sensor simulation and automated verification, thereby optimizing the overall testing process. Full article

Reconfigurable intelligent surfaces (RISs), recognized as one of the most promising key technologies for sixth-generation (6G) mobile communications, are characterized by their minimal energy expenditure, cost-effectiveness, and straightforward implementation. In this study, we develop a novel communication channel model that integrates RIS-enabled base stations with unmanned ground vehicles. To enhance the system’s adaptability, we implement a fluid antenna system (FAS) at the unmanned ground vehicle (UGV) terminal. This innovative model demonstrates exceptional versatility across various wireless communication scenarios through the strategic adjustment of active ports. The inherent dynamic reconfigurability of the FAS provides superior flexibility and adaptability in air-to-ground communication environments. In the paper, we derive and study key performance characteristics like the autocorrelation function (ACF), validating the model’s effectiveness. The results demonstrate that the RIS-FAS collaborative scheme significantly enhances channel reliability while effectively addressing critical challenges in 6G networks, including signal blockage and spatial constraints in mobile terminals. Full article

Inland waters, serving as crucial carbon sinks and pivotal conduits within the global carbon cycle, are essential targets for carbon assessment under global warming and carbon neutrality initiatives. However, the extensive spatial distribution and inherent sampling challenges pose fundamental difficulties for monitoring dissolved organic carbon (DOC) in these systems. Since 2010, remote sensing has catalyzed a technological revolution in inland water DOC monitoring, leveraging its advantages for rapid, cost-effective long-term observation. In this critical review, we systematically evaluate research progress over the past two decades to assess the performance of remote sensing products and existing methodologies in DOC retrieval. We provide a detailed examination of diverse remote sensing data sources, outlining their application characteristics and limitations. By tracing uncertainties in retrieval outcomes, we identify atmospheric correction, spatial heterogeneity, and model and data deficiencies as primary sources of uncertainty. Current retrieval approaches—direct, indirect, and machine learning (ML) methods—are thoroughly scrutinized for their features, effectiveness, and application contexts. While ML offers novel solutions, its application remains nascent, constrained by limited waterbody-specific samples and model constraints. Furthermore, we discuss current challenges and future directions, focusing on data optimization, feature engineering, and model refinement. We propose that future research should (1) employ integrated satellite–air–ground observations and develop tailored atmospheric correction for inland waters to reduce data noise; (2) develop deep learning architectures with branch networks to extract DOC’s intrinsic shortwave absorption and longwave anti-interference features; and (3) incorporate dynamic biogeochemical processes within study regions to refine retrieval frameworks using biogeochemical indicators. We also advocate for multi-algorithm collaborative prediction to overcome the spectral paradox and unphysical solutions arising from the single data-driven paradigm of traditional ML, thereby enhancing retrieval reliability and interpretability. Full article