Search Results (2,272)

This paper presents a disaster detection framework based on aerial imagery, utilizing a Branch Convolutional Neural Network (B-CNN) to enhance feature learning efficiency. The B-CNN architecture incorporates branch training, enabling effective training and inference with reduced model parameters. To further optimize resource usage, the framework integrates DoReFa-Net for weight quantization and fixed-point parameter representation. An early exit mechanism is introduced to support low-latency, energy-efficient predictions. The proposed B-CNN hardware accelerator is implemented using TSMC 16 nm CMOS technology, incorporating power gating techniques to manage memory power consumption. Post-layout simulations demonstrate that the proposed hardware accelerator operates at 500 MHz with a power consumption of 37.56 mW. The system achieves a disaster prediction accuracy of 88.18%, highlighting its effectiveness and suitability for low-power, real-time applications in aerial disaster monitoring. Full article

In the southeast of China, seasonal rainfall intensity is high, the distribution of mountains and hills is extensive, and many small-scale, shallow landslides frequently occur after consecutive seasons of heavy rainfall. High-precision automated identification systems can quickly pinpoint the scope of the disaster and help with important decisions like evacuating people, managing engineering, and assessing damage. Many people have designed systems for detecting such shallow landslides, but few have designed systems that combine high resolution, high automation, and real-time capability of landslide identification. Taking accuracy, automation, and real-time capability into account, we designed an automatic rainfall-induced shallow landslide detection system based on deep learning and Unmanned Aerial Vehicle (UAV) images. The system uses UAVs to capture high-resolution imagery, the U-Net (a U-shaped convolutional neural network) to combine multi-scale features, an adaptive edge enhancement loss function to improve landslide boundary identification, and the development of the “UAV Cruise Geological Hazard AI Identification System” software with an automated processing chain. The system integrates UAV-specific preprocessing and achieves a processing speed of 30 s per square kilometer. It was validated in Wanli District, Nanchang City, Jiangxi Province. The results show a Mean Intersection over Union (MIoU) of 90.7% and a Pixel Accuracy of 92.3%. Compared with traditional methods, the system significantly improves the accuracy of landslide detection. Full article

With the rapid development of unmanned aerial vehicle (UAV) technology and the rise of the low-altitude economy, the accurate tracking of UAVs has become a critical challenge. This paper considers a deep learning-based localization scheme that combines microphone arrays for audio source reception. The microphone array is utilized to capture sound source reception from various angles. The proposed TSNetIQ combines elaborately designed Transformer and convolutional neural networks (CNN) modules, and the raw in-phase (I) and quadrature (Q) components of the audio signals are used as input data. Hence, the direction of arrival (DOA) estimation is treated as a regression problem. Experiments are conducted to evaluate the proposed method under different signal-to-noise ratios (SNRs), sampling frequencies, and array configurations. The results demonstrate that TSNetIQ can effectively estimate the direction of the sound source, outperforming conventional architectures trained with the same dataset. This study offers superior accuracy and robustness for real-time sound source localization in UAV applications under dynamic scenarios. Full article

Static Priority-based Multiple Access (SPMA) is an emerging and promising wireless MAC protocol which is widely used in Unmanned Aerial Vehicle (UAV) networks. UAV (Unmanned Aerial Vehicle) networks, also known as drone networks, refer to a system of interconnected UAVs that communicate and collaborate to perform tasks autonomously or semi-autonomously. These networks leverage wireless communication technologies to share data, coordinate movements, and optimize mission execution. In SPMA, traffic arriving at the UAV network node can be divided into multiple priorities according to the information timeliness, and the packets of each priority are stored in the corresponding queues with different thresholds to transmit packet, thus guaranteeing the high success rate and low latency for the highest-priority traffic. Unfortunately, the multi-priority queue scheduling of SPMA deprives the packet transmitting opportunity of low-priority traffic, which results in unfair conditions among different-priority traffic. To address this problem, in this paper we propose the method of Adaptive Credit-Based Shaper with Reinforcement Learning (abbreviated as ACBS-RL) to balance the performance of all-priority traffic. In ACBS-RL, the Credit-Based Shaper (CBS) is introduced to SPMA to provide relatively fair packet transmission opportunity among multiple traffic queues by limiting the transmission rate. Due to the dynamic situations of the wireless environment, the Q-learning-based reinforcement learning method is leveraged to adaptively adjust the parameters of CBS (i.e., idleslope and sendslope) to achieve better performance among all priority queues. The extensive simulation results show that compared with traditional SPMA protocol, the proposed ACBS-RL can increase UAV network throughput while guaranteeing Quality of Service (QoS) requirements of all priority traffic. Full article

The number of CNN application areas is growing, which leads to the need for training data. The research conducted in this work aimed to obtain effective detection models trained only using simplified synthetic objects (SSOs). The research was conducted on inland shallow water areas, while images of bottom objects were obtained using a UAV platform. The work consisted in preparing SSOs, thanks to which composite images were created. On such training data, 120 models based on the YOLO (You Only Look Once) network were obtained. The study confirmed the effectiveness of models created using YOLOv3, YOLOv5, YOLOv8, YOLOv9, and YOLOv10. A comparison was made between versions of YOLO. The influence of the amount of training data, SSO type, and augmentation parameters used in the training process was analyzed. The main parameter of model performance was the F1-score. The calculated statistics of individual models indicate that the most effective networks use partial augmentation, trained on sets consisting of 2000 SSOs. On the other hand, the increased transparency of SSOs resulted in increasing the diversity of training data and improving the performance of models. This research is developmental, and further research should improve the processes of obtaining detection models using deep networks. Full article

Traditional unmanned aerial vehicle (UAV) detection and tracking methods have long faced the twin challenges of high cost and poor efficiency. In real-world battlefield environments with complex backgrounds, occlusions, and varying speeds, existing techniques struggle to track small UAVs accurately and stably. To tackle these issues, this paper presents an enhanced YOLOv8N-Drone-based algorithm for improved target tracking of small UAVs. Firstly, a novel module named C2f-DSFEM (Depthwise-Separable and Sobel Feature Enhancement Module) is designed, integrating Sobel convolution with depthwise separable convolution across layers. Edge detail extraction and multi-scale feature representation are synchronized through a bidirectional feature enhancement mechanism, and the discriminability of target features in complex backgrounds is thus significantly enhanced. For the feature confusion problem, the improved lightweight Context Anchored Attention (CAA) mechanism is integrated into the Neck network, which effectively improves the system’s adaptability to complex scenes. By employing a position-aware weight allocation strategy, this approach enables adaptive suppression of background interference and precise focus on the target region, thereby improving localization accuracy. At the level of loss function optimization, the traditional classification loss is replaced by the focal loss (Focal Loss). This mechanism effectively suppresses the contribution of easy-to-classify samples through a dynamic weight adjustment strategy, while significantly increasing the priority of difficult samples in the training process. The class imbalance that exists between the positive and negative samples is then significantly mitigated. Experimental results show the enhanced YOLOv8 boosts mean average precision (Map@0.5) by 12.3%, hitting 99.2%. In terms of tracking performance, the proposed YOLOv8 N-Drone algorithm achieves a 19.2% improvement in Multiple Object Tracking Accuracy (MOTA) under complex multi-scenario conditions. Additionally, the IDF1 score increases by 6.8%, and the number of ID switches is reduced by 85.2%, indicating significant improvements in both accuracy and stability of UAV tracking. Compared to other mainstream algorithms, the proposed improved method demonstrates significant advantages in tracking performance, offering a more effective and reliable solution for small-target tracking tasks in UAV applications. Full article

This study addresses critical safety challenges in sustainable urban mobility by developing a probabilistic framework for lane-change risk prediction on congested expressways. Utilizing unmanned aerial vehicle (UAV)-captured trajectory data from 784 validated lane-change events, we construct a Bayesian network model integrated with an I-CH scoring-enhanced MMHC algorithm. This approach quantifies risk probabilities while accounting for driver decision dynamics and input data uncertainties—key gaps in conventional methods like time-to-collision metrics. Validation via the Asia network paradigm demonstrates 80.5% reliability in forecasting high-risk maneuvers. Crucially, we identify two sustainability-oriented operational thresholds: (1) optimal lane-change success occurs when trailing-vehicle speeds in target lanes are maintained at 1.0–3.0 m/s (following-gap < 4.0 m) or 3.0–6.0 m/s (gap ≥ 4.0 m), and (2) insertion-angle change rates exceeding 3.0°/unit-time significantly elevate transition probability. These evidence-based parameters enable traffic management systems to proactively mitigate collision risks by 13.26% while optimizing flow continuity. By converting behavioral insights into adaptive control strategies, this research advances resilient transportation infrastructure and low-carbon mobility through congestion reduction. Full article

Ensuring the safe operation of Unmanned Aerial Vehicles (UAVs) is crucial for both mission-critical and safety-critical tasks. In scenarios where UAVs must track airborne targets, they need to follow the target’s path while maintaining a safe distance, even in the presence of unmodeled dynamics and environmental disturbances. This paper presents a novel collision avoidance strategy for dynamic quadrotor UAVs during target-tracking missions. We propose a safety controller that combines a learning-based Control Barrier Function (CBF) with standard sliding mode feedback. Our approach employs a neural network that learns the true CBF constraint, accounting for wind disturbances, while the sliding mode controller addresses unmodeled dynamics. This unified control law ensures safe leader-following behavior and precise trajectory tracking. By leveraging a learned CBF, the controller offers improved adaptability to complex and unpredictable environments, enhancing both the safety and robustness of the system. The effectiveness of our proposed method is demonstrated through the AirSim platform using the PX4 flight controller. Full article

This paper proposes a novel dual-functional radar-communication (DFRC) framework that integrates unmanned aerial vehicle (UAV) communications into an integrated sensing and communication (ISAC) system, termed the ISAC-UAV architecture. In this system, the UAV’s mobility is leveraged to simultaneously serve multiple single-antenna uplink users (UEs) and perform radar-based sensing tasks. A key challenge stems from the target position uncertainty due to movement, which impairs matched filtering and beamforming, thereby degrading both uplink reception and sensing performance. Moreover, UAV energy consumption associated with mobility must be considered to ensure energy-efficient operation. We aim to jointly maximize radar sensing accuracy and minimize UAV movement energy over multiple time steps, while maintaining reliable uplink communications. To address this multi-objective optimization, we propose a deep reinforcement learning (DRL) framework based on a long short-term memory (LSTM)-enhanced deep deterministic policy gradient (DDPG) network. By leveraging historical target trajectory data, the model improves prediction of target positions, enhancing sensing accuracy. The proposed DRL-based approach enables joint optimization of UAV trajectory and uplink power control over time. Extensive simulations validate that our method significantly improves communication quality and sensing performance, while ensuring energy-efficient UAV operation. Comparative results further confirm the model’s adaptability and robustness in dynamic environments, outperforming existing UAV trajectory planning and resource allocation benchmarks. Full article

To address the degradation in localization accuracy caused by insufficient robustness of filter parameters and inefficient multi-trajectory data fusion in dynamic environments, this paper proposes a Kalman filter-based localization calibration method optimized by reinforcement learning and information matrix fusion (RL-IMKF). An actor–critic reinforcement learning network is designed to adaptively adjust the state covariance matrix, enhancing the Kalman filter’s adaptability to environmental changes. Meanwhile, a multi-trajectory information matrix fusion strategy is introduced, which aggregates multiple trajectories in the information domain via weighted inverse covariance matrices to suppress error propagation and improve system consistency. Experiments using both simulated and real-world sensor data demonstrate that the proposed method outperforms traditional extended Kalman filter approaches in terms of localization accuracy and stability, providing a novel solution for cooperative localization calibration of unmanned aerial vehicle (UAV) swarms in dynamic environments. Full article

This study presents a semi-random mobility model called Semi-Random Elliptical Movement (SREM), developed for relay-oriented Flying Ad Hoc Networks (FANETs). In FANETs, node distribution has a major impact on network performance, making the mobility model a critical design element. While random models offer simplicity and path diversity, they often result in unstable relay paths due to inconsistent node placement. In contrast, planned path models provide alignment but lack the flexibility needed in dynamic environments. SREM addresses these challenges by enabling nodes to move along elliptical trajectories, combining autonomous movement with alignment to the relay path. This approach encourages natural node concentration along the relay path while maintaining distributed mobility. The spatial characteristics of SREM have been analytically defined and validated through the Monte Carlo method, confirming stable node distributions that support effective relaying. Computer simulation results show that SREM performs better than general mobility models that do not account for relaying, offering more suitable performance in relay-focused scenarios. These findings suggest that SREM provides both structural consistency and practical effectiveness, making it a strong candidate for improving the realism and reliability of FANET simulations involving relay-based communication. Full article

Unmanned Aerial Vehicles (UAVs) face significant challenges in global path planning within complex terrains, as traditional algorithms (e.g., A*, PSO, APF) struggle to balance computational efficiency, path optimality, and safety. This study proposes a Voronoi–A* fusion algorithm, combining Voronoi-vertex-based rapid trajectory generation with A* supplementary expansion for enhanced performance. First, an adaptive DEM layering strategy divides the terrain into horizontal planes based on obstacle density, reducing computational complexity while preserving 3D flexibility. The Voronoi vertices within each layer serve as a sparse waypoint network, with greedy heuristic prioritizing vertices that ensure safety margins, directional coherence, and goal proximity. For unresolved segments, A* performs localized searches to ensure complete connectivity. Finally, a line-segment interpolation search further optimizes the path to minimize both length and turning maneuvers. Simulations in mountainous environments demonstrate superior performance over traditional methods in terms of path planning success rates, path optimality, and computation. Our framework excels in real-time scenarios, such as disaster rescue and logistics, although it assumes static environments and trades slight path elongation for robustness. Future research should integrate dynamic obstacle avoidance and weather impact analysis to enhance adaptability in real-world conditions. Full article

Unmanned aerial vehicles (UAVs) are widely used in surveillance and combat for their efficiency and autonomy, whilst complex, dynamic environments challenge the modeling of inter-agent relations and information transmission. This research proposes a novel UAV tactical choice-making algorithm utilizing graph neural networks to tackle these challenges. The proposed algorithm employs a graph neural network to process the observed state information, the convolved output of which is then fed into a reconstructed critic network incorporating a Laplacian convolution kernel. This research first enhances the accuracy of obtaining unstable state information in hostile environments. The proposed algorithm uses this information to train a more precise critic network. In turn, this improved critic network guides the actor network to make decisions that better meet the needs of the battlefield. Coupled with a policy transfer mechanism, this architecture significantly enhances the decision-making efficiency and environmental adaptability within the multi-agent system. Results from the experiments show that the average effectiveness of the proposed algorithm across the six planned scenarios is 97.4%, surpassing the baseline by 23.4%. In addition, the integration of transfer learning makes the network convergence speed three times faster than that of the baseline algorithm. This algorithm effectively improves the information transmission efficiency between the environment and the UAV and provides strong support for UAV formation combat. Full article

The reliability of unmanned aerial vehicle (UAV) energy storage battery systems is critical for ensuring their safe operation and efficient mission execution, and has the potential to significantly advance applications in logistics, monitoring, and emergency response. This paper reviews theoretical and technical advancements in UAV battery reliability, covering definitions and metrics, modeling approaches, state estimation, fault diagnosis, and battery management system (BMS) technologies. Based on international standards, reliability encompasses performance stability, environmental adaptability, and safety redundancy, encompassing metrics such as the capacity retention rate, mean time between failures (MTBF), and thermal runaway warning time. Modeling methods for reliability include mathematical, data-driven, and hybrid models, which are evaluated for accuracy and efficiency under dynamic conditions. State estimation focuses on five key battery parameters and compares neural network, regression, and optimization algorithms in complex flight scenarios. Fault diagnosis involves feature extraction, time-series modeling, and probabilistic inference, with multimodal fusion strategies being proposed for faults like overcharge and thermal runaway. BMS technologies include state monitoring, protection, and optimization, and balancing strategies and the potential of intelligent algorithms are being explored. Challenges in this field include non-unified standards, limited model generalization, and complexity in diagnosing concurrent faults. Future research should prioritize multi-physics-coupled modeling, AI-driven predictive techniques, and cybersecurity to enhance the reliability and intelligence of battery systems in order to support the sustainable development of unmanned systems. Full article

Visual inspection of civil infrastructure for structural health assessment, as performed by structural engineers, is expensive and time-consuming. Therefore, automating this process is highly attractive, which has received significant attention in recent years. With the increasing capabilities of computers, deep neural networks have become a standard tool and can be used for structural health inspections. A key challenge, however, is the availability of reliable datasets. In this work, the U-net and DeepLab v3+ convolutional neural networks are trained on a synthetic Tokaido dataset. This dataset comprises images representative of data acquired by unmanned aerial vehicle (UAV) imagery and corresponding ground truth data. The data includes semantic segmentation masks for both categorizing structural elements (slabs, beams, and columns) and assessing structural damage (concrete spalling or exposed rebars). Data augmentation, including both image quality degradation (e.g., brightness modification, added noise) and image transformations (e.g., image flipping), is applied to the synthetic dataset. The selected neural network architectures achieve excellent performance, reaching values of 97% for accuracy and 87% for Mean Intersection over Union (mIoU) on the validation data. It also demonstrates promising results in the semantic segmentation of real-world structures captured in photographs, despite being trained solely on synthetic data. Additionally, based on the obtained results of semantic segmentation, it can be concluded that DeepLabV3+ outperforms U-net in structural component identification. However, this is not the case in the damage identification task. Full article