Search Results (176)

Long-endurance unmanned aerial vehicle (UAV) missions beyond 72 consecutive flight hours face a reliability boundary at which thermal gyroscope drift drives the inertial navigation system (INS) position error into rapid nonlinear divergence at a predictable threshold t_c. This paper presents BAZ II, a simulation-validated multi-agent navigation system that extends the analytical BAZ (bifurcation-aware zonal navigation) framework. Its central idea is to treat communication quality as a planning resource and combine it with multi-agent collaboration, making the navigation cliff a manageable degradation event rather than a hard operating limit. Four contributions support this idea: a thermalhysteresis MEMS gyroscope drift model reproduces the analytical cliff in simulation and supplies its physical mechanism; a distributed collaborative simultaneous localization and mapping (SLAM) filter coupled to a stochastic continuous-time Markov chain (CTMC) interagent channel sustains GPS-denied localization within the operational accuracy budget; a 3D Gaussian process RF-aware model predictive controller (MPC) with cognitive radio frequency-hopping restores link availability under jamming, while an analytic hierarchy process (AHP)-weighted multi-objective communication cost improves latency and jitter at negligible signal-to-noise ratio cost; finally, the integrated controller executes within the onboard real-time budget of an NVIDIA Jetson Xavier NX. All results are obtained in simulation, with hardware-in-the-loop and field testing remaining as priority future work. Full article

Biodiversity and landscape heterogeneity are key components of agroecosystem functioning because they support ecosystem services and strengthen the capacity of agricultural systems to undertake sustainable agroecological transitions. This study assesses the landscape structure of the municipality of Ruvo di Puglia, within the Bio-Distretto delle Lame, to evaluate its potential to support such a transition. Bio-districts are territories in which farmers, local authorities, citizens, and other stakeholders collaborate to manage natural and agricultural resources sustainably, often with a strong connection to organic farming. The research combines freely available Sentinel-2 imagery with UAV-based ground truthing to update land-use/land-cover information and to derive landscape indicators. A systematic sampling scheme was designed in QGIS, and UAV flights over 14 areas were used to generate training and validation vectors. Two classification strategies were tested on 2024 Sentinel-2 data: a supervised pixel-based approach and an unsupervised multi-temporal object-based approach (GEOBIA). The best-performing map was obtained from the supervised classification of July NDVI data, with an overall accuracy of 91.76%. In respect to the 2018 official land-cover dataset indicates a decrease in agricultural land (−490.91 ha), a reduction in arable crops (−1216.43 ha), and an increase in permanent crops (+725.52 ha), suggesting a shift toward specialization. At the same time, natural and semi-natural areas increased, improving the landscape potential for ecological functions. However, the high fragmentation detected by the landscape metrics (average patch size approximately 0.25 ha) may limit habitat continuity and species stability. The results should therefore be interpreted as an assessment of landscape structure and potential biodiversity support, rather than as a direct measurement of biological diversity. Strengthening ecotones, hedgerows and semi-natural linear elements with native species would further improve landscape resilience and support agroecological planning. Full article

Despite the large amount of successful existing methods and frameworks for planning sets of multiple unmanned aerial systems (UASs), there is still a lack of coordination frameworks that are capable of coping with real-world operational conditions. This paper presents U-Plan, an integrated management framework for the coordination of multi-UAS missions. U-Plan is designed to plan, schedule, monitor, and replan a heterogeneous set of UASs to complete point of interest (PoI) visiting missions while ensuring that all the generated trajectories are safe, feasible, and compliant with the required PoIs’ arrival times, UAS kinematics and energy constraints, and the existing 3D no-fly zones (NFZs). U-Plan is designed as a practical tool for strongly dynamic missions and is built upon three core components: (1) an NFZ-aware route computation method that explicitly accounts for NFZs prior to vehicle routing problem (VRP) optimization, resulting in shorter NFZ-safe routes; (2) a trajectory smoothing module that ensures the generation of kinematically feasible trajectories for fixed-wing UASs; and (3) a mission supervision module for real-time monitoring and replanning in case of changes in the UAS, mission, wind speed, or airspace restrictions. To validate the proposed architecture, we conducted rigorous experiments utilizing the VECTOR-SIL autopilot and Visionair Ground Control Station to realistically replicate the behavior of certified fixed-wing autopilots under various weather conditions using the exact same hardware and flight control software that runs onboard the physical drones. The validation shows U-Plan’s capacity to efficiently satisfy complex mission requirements with strong scalability. Due to its high computational efficiency, U-Plan enables online mission replanning, allowing UAS fleets to seamlessly adapt to changes that are typical of real-world operational scenarios. Full article

Air Traffic Control Officers (ATCOs) are responsible for controlling air traffic and ensuring the safety of the aircraft. Capacity, understood as the maximum number of aircraft that can be safely managed for one hour, is calculated based on the workload of ATCOs. This calculation normally is based on a manual and tedious data collection process that demands a high consumption of human resources. To improve and relieve human re-sources, automation tools that automatically generate a preliminary annotation of Air Traffic Control (ATC) activity have been developed. This paper focuses on the feasibility of employing data-driven approaches using neural networks to classify ATC events, as well as if it is possible to improve the performance of these ATC-activity tools. Particularly, this approach seeks to infer ATC intent for separation actions, which are the most critical in terms of ATC workload. A modular methodology has been developed to include information from different sources: flight plans, radar trajectories, trajectory prediction, conflict detection and rule-based knowledge. Different experiments are evaluated based on the different input’s combination, as well as three neural networks (Multilayer Perceptron, Convolutional Neural Network and TabNet). Results show that TabNet is the best neural network option, reaching a similar performance in task classification than current ATC tools and improving classification metrics around 4% by employing the outputs of ATC tool metrics as inputs. Full article

Severe and unpredictable wind conditions significantly disrupt flight safety, mission planning, and scheduling. Traditional wind forecasting methods rely on low-resolution mesoscale models or resource-intensive instrumentation. This study evaluates the accuracy of 40 m Large-Eddy Simulations (LESs), nested within a mesoscale framework, to better resolve hazardous wind phenomena over GrandSKY, North Dakota, the first large-scale commercial Uncrewed Aircraft System (UAS) test park in the United States, serving as a hub for UAS innovation and Beyond Visual Line of Sight operations. Using low-altitude airborne observations from Meteodrone flights, satellite data, and ground-based measurements, we assess the model’s accuracy in predicting wind speed and direction during both summer and winter. Results demonstrate that the 40 m LES provides improved predictions of wind gust variability compared to the 1 km forecast, and the impact on flight safety is quantified. The LES also reveals notable discrepancies in UAS flyability predictions, which result in up to a 17% reduction in operational windows during the summer. This study’s novelty lies in using a 40 m resolution LES nested within a 1 km WRF simulation, combined with multi-source observations, to resolve low-altitude turbulence and quantify its impact on UAS operations. A 10–18% correction factor can be applied to TKE (or derived wind variability) in coarser WRF runs to better estimate maximum wind speeds without LES. The findings highlight the potential of high-resolution LES modeling to support reliable UAS operations in weather-sensitive environments, laying the groundwork for broader integration of advanced simulation techniques in national airspace management systems. Full article

Uncrewed aerial systems (UASs) have diverse applications in natural environments, yet their deployment can inadvertently disturb wildlife. This PRISMA-guided systematic review synthesised 39 studies (2015–2025) encompassing birds, mammals, and marine taxa to identify UAS operational drivers of disturbance. We applied a Factors–Responses–Consequences (F–R–C) framework linking UAS operational characteristics, observed wildlife responses, and ecological consequences. Three patterns emerged: (i) Factors: Contextual and operational conditions such as flight altitude, noise, and approach direction interact with species-specific sensitivities to shape disturbance potential. (ii) Responses: Physiological measures (e.g., elevated heart rates) often reveal hidden stress not evident from behaviour alone. (iii) Consequences: Short-term effects may accumulate into long-term impacts on health, reproduction, and habitat use. These findings highlight the need for species- and context-specific flight envelopes rather than solely uniform altitude limits. By structuring existing evidence within the F–R–C framework, this synthesis provides a transferable foundation for UAS mission planning, drone development, operational decision-making, ethical practice, and environmental impact assessment in conservation and wildlife-management contexts. As all screening and data extraction were conducted by a single reviewer, the findings should be interpreted with appropriate caution pending independent validation. Full article

Unmanned Aerial Vehicles (UAVs) present a promising solution for urban logistics, where an effective energy management strategy guided by optimal path planning is crucial for reducing operational costs and extending system lifespan. This study begins by analyzing the wind field distribution in a specific urban area of Chengdu using Computational Fluid Dynamics, and establishes a data-driven power prediction model to evaluate UAV energy consumption. A hybrid wind-field-aware A* with Ant Colony Optimization algorithm is subsequently proposed to compute the optimal flight path that balances energy consumption and distance, generating corresponding power demand profiles for the ensuing energy management strategy. Finally, a Deep Q-Learning (DQN)-based energy management strategy is implemented to regulate power distribution between the fuel cell and the battery, aiming to minimize hydrogen consumption and stabilize the power output of the primary source. Experimental results demonstrate that the proposed path planning method can effectively reduce energy consumption across different scenarios while causing only a marginal increase in travel distance. In addition, the DQN-based strategy significantly suppresses fuel cell power fluctuations at the cost of only a slight increase in hydrogen consumption, thereby demonstrating the effectiveness of the path-planning-informed energy management strategy. Full article

The precise identification of terminal area arrival procedures is crucial for airspace planning, traffic management, and safety analysis. Traditional methods are limited in automatically detecting specific procedural maneuvers from large amounts of trajectory data. This paper proposes a methodology with knowledge-based filtering to automatically identify three common air traffic control arrival procedures, namely Point Merge System, Vector for Space, and Trombone, from historical trajectory data. After clustering the landing trajectories in the terminal area, we identify the predominant flight patterns. Then, a knowledge-based filtering algorithm, designed based on knowledge of the procedure and geometry criteria, is employed to precisely extract trajectories with different procedure patterns. Experimental results demonstrate that this method effectively identifies the distinct procedural trajectories. An in-depth analysis of the extracted trajectories reveals significant characteristics and differences in their spatial distribution, trajectory structure, and operational efficiency. This work provides data-driven decision support for evaluating terminal area operational performance and arrival procedures. Full article

The proposed study investigates the key factors influencing UAV adoption and proposes an integrated educational–operational framework to enhance implementation in agricultural practice. A case study in Sibiu County, Romania, combined survey-based empirical analysis (n = 80), strategic environmental assessment and the deployment of a demonstration aerial crop monitoring system for educational purposes (ACMS-E). We integrated the Technology Acceptance Model (TAM) and Theory of Planned Behavior (TPB) to examine adoption intentions, revealing perceived usefulness (β = 0.355, p = 0.021) and positive attitudes (β = 0.382, p = 0.005) as the strongest predictors, explaining 44.1% of variance. Based on these findings, a modular training curriculum was designed, combining theoretical instruction, flight operation exercises, remote sensing techniques, data analytics and farm-management integration. ACMS-E provides hands-on training and promotes capacity-building, bridging the gap between technological availability and real-world adoption. By linking technological capabilities with structured training, ACMS-E bridges the gap between UAV availability and effective implementation, offering a scalable model for precision agriculture. This framework provides a pathway to accelerate UAV adoption, optimize field-level monitoring and support evidence-based, resource-efficient farm management in emerging and developed agricultural contexts. Full article

Accurate real-time detection, geolocation, and counting of palm trees are essential for plantation management, yield estimation, and resource allocation in precision agriculture. Traditional approaches such as manual surveys or offline image processing are labor-intensive and unsuitable for large-scale applications. This study introduces a fully onboard real-time framework that integrates Unmanned Aerial Vehivle (UAV) imagery, the YOLOv12 deep learning model, and a camera projection technique to detect, geolocate, and count palm trees directly during flight. The lightweight YOLOv12n variant, deployed on an NVIDIA Jetson Nano edge device, achieved a detection precision of 92.4%, an average geolocation error of 2.14 m, and a counting error of only 0.2% across 915 trees. Unlike many existing methods that rely on offline processing or offboard computation, the proposed system performs all computations in real time, enabling immediate decision-making for tasks such as plantation density analysis, replanting planning, and yield forecasting. Experimental results demonstrate that the proposed approach provides a scalable, cost-effective, and autonomous solution for modern precision agriculture. Full article

Due to their advantages of being low-cost, lightweight and flexible, and having wide shooting coverage, UAVs have played an important role in situational awareness in the fields of disaster prevention and mitigation, urban planning and management, etc. In these applications, UAV aerial photography is limited by the field of view, and high-definition panoramic images of the complete target area cannot be obtained. Image mosaic technology is essential, but an image mosaic using only a single UAV cannot meet the high real-time requirements for situational awareness. In response to the above problems, this paper proposes a multi-UAV fast aerial image mosaic method based on key frames. First, the multi-UAV area coverage flight strategy is determined according to the size of the task area and the UAV flight parameters; then, the field of view of the pod, the flight speed, and the flight altitude are used to determine the key frame extraction time period during the UAV aerial photography process. The image matching-rate calculation method is designed and the key frames are extracted during the extraction time period, and the key frames are returned to the ground visual puzzle system; in the ground visual puzzle system, the improved Laplacian pyramid method is used to quickly fuse and stitch the key frames extracted by each UAV to obtain a panoramic stitched map. The experiment shows that the method can quickly obtain high-precision real-scene map information of the task area. Compared with the single-UAV method and the multi-UAV full video stream-splicing method, this method greatly reduces the consumption of computing power and the requirements of communication bandwidth and improves the efficiency and real-time performance of panoramic map acquisition. Full article

In the long-duration stratospheric operation of High-Altitude Platform Stations (HAPSs), strict management of the limited solar energy balance is a decisive factor determining mission success. However, existing planar approximation models ignore self-shading and incidence angle losses associated with curved surfaces. In this study, we propose a novel framework that catalogs the airframe geometry as a 4-tensor, achieving both physical rigor and computational speed. This method is a thousand times faster than ray tracing methods, and successfully reproduces the minute output fluctuations observed in actual flight data. Notably, in the winter solstice analysis, when the energy balance is most severe, the planar model overestimates power generation by approximately 25% during level flight and by approximately 12% even during turning maneuvers. Quantifying this discrepancy in environments with minimal energy margins is essential for mitigating the risk of airframe loss and formulating feasible operational plans. Full article

This paper addresses the challenge of simultaneous arrival for UAV clusters and proposes a route planning method based on an enhanced Non-dominated Sorting Genetic Algorithm III (NSGA-III). Initially, the paper defines the simultaneous arrival problem and formulates the corresponding mathematical model, considering the complexity of multi-objective optimization in UAV clusters. A novel path generation framework is introduced, which incorporates multiple optimization objectives—such as time coordination, threat mitigation, and resource consumption—aimed at improving flight safety, efficiency, and resource management. To enhance the algorithm’s search performance, a hybrid approach combining the Artificial Bee Colony (ABC) algorithm with NSGA-III is proposed. This improved NSGA-III strategy overcomes the limitations of the original algorithm in managing complex constraints and multi-objective optimization problems, resulting in significant improvements in search accuracy and convergence speed. Finally, the performance of the improved algorithm is evaluated through simulations and compared with traditional methods. The results show that the proposed approach optimizes flight time, reduces resource consumption, and effectively mitigates threats, all while ensuring the simultaneous arrival of UAV clusters. Full article

This paper presents a multi-layer architecture designed to enhance the reliable autonomous flight of single and multiple quadcopters in simulation. The architecture leverages concepts inspired by the resilient spacecraft executive to hierarchically organize trajectory planning and flight control and integrates an extended Simplex framework that employs multiple candidate algorithms to provide safety assurance at each layer, with a supervisory program that adapts Simplex behavior based on system states and environmental conditions to enable high-level mission management. The approach is evaluated in bridge-inspection simulations under environmental uncertainties, including varying wind conditions and obstacles. Across multiple operating configurations and Monte Carlo simulation runs, the architecture achieves high coverage rates; notably, under high-wind conditions, it reduces average trajectory deviation by 66.2%. The results demonstrate proactive safety through graceful degradation in both trajectory planning and flight control under stress and off-nominal conditions. Full article

Seagrass meadows are essential coastal ecosystems that provide key ecological services, including carbon sequestration, sediment stabilization, and shoreline protection. Increasing threats from natural and anthropogenic stressors highlight the need for efficient, reproducible, and non-invasive monitoring solutions. This study evaluates the performance of low-cost commercial drones for seagrass assessment in shallow coastal waters, with an emphasis on freely accessible mission-planning and photogrammetric workflows. Field surveys were conducted along the Calabrian coast (southern Italy), where automated flight paths were generated using the software WaypointMap, and high-resolution orthophotos were generated using the WebODM software and subsequently analyzed in QGIS for seagrass patch detection, mapping, and surface estimation. The methodological pipeline is described in detail to facilitate full reproducibility. Compared with traditional diver-based methods, this workflow offers faster data collection, broader spatial coverage, and minimal environmental disturbance. Although some limitations remain, the results demonstrate that combining low-cost drones with open-source tools provides a practical and scalable solution for routine monitoring. This approach has strong potential for integration into routine coastal habitat assessment, supports early impact detection, and contributes to evidence-based conservation and management strategies. Full article