Drones and Autonomous Vehicles - Journal

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src="/uploads/2024/05/28/17168749452jfd.jpg" alt="Drones and Autonomous Vehicles-logo"> </a> </div> </div> <div class="flex-grow-1 pl-5 pb-2"> <div class="d-flex justify-content-center"> <div class="left-title"> <h1 class="d-flex justify-content-between align-items-center"> Drones and Autonomous Vehicles <a class="orange-color mb-0" href="/journals/dav/apc"> <img src="/style/image/open_access.png"> Open Access </a> </h1> <div class="d-flex"> <div class="flex-grow-1"> <div class="right-title d-flex align-items-center"> <p class="text-right mr-2">ISSN: 2958-7689 <span>(Online)</span></p> <p class="text-right mr-2">2958-7670 <span>(Print)</span></p> <p class="text-right mr-2"></p> </div> <div class="item-text"> <p><em><strong>Drones and Autonomous Vehicles</strong> </em><span style="color:#222222; font-family:Arial">is an international open access journal which will carry high quality papers in all fields of autonomous systems, algorithm, automate software, hardware research and applications related to drones and autonomous vehicle systems.</span></p> <p> </p> </div> </div> </div> </div> </div> </div> </div> </div> </section> <section class="mb-3 book-column"> <div class="my-body-container padding0"> <div class="book-item-fixed default-hide pt-2 pb-2"> <div class="d-flex align-items-center"> <div class="left-logo mr-3"> <a href="/" alt="Back to the homepage"> <svg xmlns="http://www.w3.org/2000/svg" class="navbar-logo" xml:space="preserve" version="1.0" viewBox="0 0 5.08 1.933"> <path d="M1.021 1.245a.29.29 0 0 1-.211-.054l-.027-.023-.003-.003.056-.066.003.004a.3.3 0 0 0 .043.033.2.2 0 0 0 .128.027l.024-.007.019-.01a.07.07 0 0 0 .022-.032.1.1 0 0 0 0-.036l-.004-.014a.1.1 0 0 0-.016-.02.1.1 0 0 0-.027-.017L.994 1.01.919.98a.3.3 0 0 1-.076-.05.14.14 0 0 1-.034-.067.2.2 0 0 1 0-.06.13.13 0 0 1 .027-.056.2.2 0 0 1 .049-.041A.2.2 0 0 1 .95.683a.3.3 0 0 1 .07-.001.2.2 0 0 1 .06.017.3.3 0 0 1 .075.05l.003.003-.05.061L1.103.81a.2.2 0 0 0-.053-.034.2.2 0 0 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</svg> </a> </div> </div> </div> </section> <section class="mb-1 avatar-news-item"> <div class="my-body-container"> <div class="section-heading border-top-0"> <h3 class="section-title"> Editors-in-Chief </h3> </div> <ul class="row mt-3"> <li class="col pb-2 mb-2"> <div class="d-flex align-items-center height100"> <div class="avatar-container"> <a class="avatar-img" href="/journals/dav/editors"> <img src="/uploads/2022/05/11/16522387821lh9.jpg" class="avatar img-thumbnail"> </a> </div> <div class="flex-grow-1 ml-3"> <h5>Prof. Zhengtao Ding</h5> <p>Department of Electrical and Electronic Engineering, University of Manchester, Manchester, M13 9PL, UK</p> </div> </div> </li> <li class="col pb-2 mb-2"> <div class="d-flex align-items-center height100"> <div class="avatar-container"> <a class="avatar-img" href="/journals/dav/editors"> <img src="/uploads/2024/10/30/1730274463nA80.jpg" class="avatar img-thumbnail"> </a> </div> <div class="flex-grow-1 ml-3"> <h5>Prof. Dr. Tieshan Li</h5> <p>School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China</p> </div> </div> </li> </ul> </div> </section> <section class="articles-list1 mb-3"> <div class="my-body-container padding0"> <div class="section-heading"> <h3 class="section-title"> Articles <span>(20)</span> <a class="right" href="/journals/dav/articles" target="_blank"> All articles <svg xmlns="http://www.w3.org/2000/svg" width="12" height="12" fill="currentColor" class="bi bi-chevron-double-right" viewBox="0 0 16 16"> <path fill-rule="evenodd" d="M3.646 1.646a.5.5 0 0 1 .708 0l6 6a.5.5 0 0 1 0 .708l-6 6a.5.5 0 0 1-.708-.708L9.293 8 3.646 2.354a.5.5 0 0 1 0-.708z"/> <path fill-rule="evenodd" d="M7.646 1.646a.5.5 0 0 1 .708 0l6 6a.5.5 0 0 1 0 .708l-6 6a.5.5 0 0 1-.708-.708L13.293 8 7.646 2.354a.5.5 0 0 1 0-.708z"/> </svg> </a> </h3> </div> <ul class="nav nav-tabs mt-2"> <li class="nav-item"><a class="nav-link active" id="all-tab" data-toggle="tab" href="#id-all">Latest published</a></li> <li class="nav-item"><a class="nav-link" id="downloaded-tab" data-toggle="tab" href="#id-downloaded">Most downloaded</a></li> <li class="nav-item"><a class="nav-link" id="popular-tab" data-toggle="tab" href="#id-popular" role="tab">Most popular</a></li> </ul> <div class="tab-content" id="myTabContent"> <div class="tab-pane fade show active" id="id-all"> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>07 November 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/330">Fully- and Partially- Distributed Adaptive Consensus of Second-Order Multi-Agent Systems Using Only Relative Position Measurements</a> </h3> <p class="article-abseract clamp">In this paper, the distributed leader-follower consensus of a group of agents with second-order dynamics under the undirected graph communication topology is studied. The main objective of this study is to solve a major practical multi-agent problem in which the acceleration of the leader is not communicated to each follower. In contrast, the follower agents include some unknown dynamics in their intrinsic structure. By assuming a linear regression structure for leader acceleration and agent’s unknown dynamics, Lyapunov-based adaptive control algorithms are devised to control the network of agents in the presence of the communication loss and modeling uncertainties. The presented study describes two multi-agent control strategies called fully-distributed adaptive control (FDAC) and partially-distributed adaptive control (PDAC) systems in the first method, the followers do not have any a priori information about the communication graph, while in the second method, some information about the eigenvalues of the communication graph is available. The mathematical manipulations required to prove the stability of the FDAC and PDAC methods are presented. Finally, illustrative simulations are conducted to render the proposed algorithms’ merits and efficiencies.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=BahramTaran" target="_blank"> Bahram Taran </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=Mohammad RezaHomaeinezhad" target="_blank"> Mohammad Reza Homaeinezhad* </a> </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/11/07/77f9d69b1c4b545fec20105eb88fdc87.jpg" data-lightbox="image-1" data-title=""><img src="/uploads/2024/11/07/77f9d69b1c4b545fec20105eb88fdc87.jpg" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Perspective</h4> <span>10 October 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/299">Conceptual Design of Aerostat-Based Autonomous Docking and Battery Swapping System for Extended Airborne Operation</a> </h3> <p class="article-abseract clamp">In response to the ever-growing global demand for Unmanned Aerial Vehicles, efficient battery solutions have become vital. This paper proposes a design and concept of an Autonomous Mid Air Battery Swapping System for Vertical Take-Off and Landing Unmanned Aerial Vehicles. The proposed design integrates Aerial Mechatronics, Lighter than Air Systems, and Digital Modelling by leveraging the innovative concept of aerostats for battery swapping. This adaptive and effective technology paves the way for the next generation of autonomous Vertical Take-Off and Landing, ensuring a longer flight time and range. Modern-day technologies have empowered Unmanned Aerial Vehicles to operate autonomously and be remotely controlled, expanding their utility across diverse industries. The enhanced Vertical Take-Off and Landing capabilities include the ability to dock on an aerostat-mounted system, facilitating seamless battery swapping without human intervention and ensuring extended flight duration and operational flexibility. These advancements promise to broaden the applications of Unmanned Aerial Vehicles across various industries.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=NachikethNadig" target="_blank"> Nachiketh Nadig* </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=PrathameshMinde" target="_blank"> Prathamesh Minde </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=AdityaGautam" target="_blank"> Aditya Gautam </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=AjinBraneshAsokan" target="_blank"> Ajin Branesh Asokan </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=GurmailSinghMalhi" target="_blank"> Gurmail Singh Malhi </a> </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/10/10/73998813cfdf5217119f654b5e04c62c.png" data-lightbox="image-2" data-title=""><img src="/uploads/2024/10/10/73998813cfdf5217119f654b5e04c62c.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>02 September 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/267">Multi-Robot Cooperative Target Search Based on Distributed Reinforcement Learning Method in 3D Dynamic Environments</a> </h3> <p class="article-abseract clamp">This paper proposes a distributed reinforcement learning method for multi-robot cooperative target search based on policy gradient in 3D dynamic environments. The objective is to find all hostile drones which are considered as targets with the minimal search time while avoiding obstacles. First, the motion model for unmanned aerial vehicles and obstacles in a dynamic 3D environments is presented. Then, a reward function is designed based on environmental feedback and obstacle avoidance. A loss function and its gradient are designed based on the expected cumulative reward and its differentiation. Next, the expected cumulative reward is optimized by a reinforcement learning algorithm that makes the loss function update in the direction of the gradient. When the variance of the expected cumulative reward is lower than a specified threshold, the unmanned aerial vehicle obtains the optimal search policy. Finally, simulation results demonstrate that the proposed method effectively enables unmanned aerial vehicles to identify all targets in the dynamic 3D airspace while avoiding obstacles.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=MengZhou" target="_blank"> Meng Zhou </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=XinhengWang" target="_blank"> Xinheng Wang </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=ChangWang" target="_blank"> Chang Wang </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=JingWang" target="_blank"> Jing Wang* </a> </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/09/02/a2906177c433b35166f834cb26a0f5ad.png" data-lightbox="image-3" data-title=""><img src="/uploads/2024/09/02/a2906177c433b35166f834cb26a0f5ad.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Opinion</h4> <span>22 August 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/254">Medical Drones for Public Health Emergency Preparedness, Response, and Resilience: Delivering Health for All</a> </h3> <p class="article-abseract clamp">Amid a global metacrisis of health, environmental and economic challenges, medical delivery drones (or uncrewed aerial vehicles) offer a promising method to prepare for, and rapidly respond, to future emergencies. This opinion article summarizes the current medical delivery drone landscape, evidence base, and policy implications in the context of public health emergencies, such as pandemics, natural disasters, and humanitarian crises, with a particular emphasis on the region of sub-Saharan Africa. Using a multilateral, international health policy perspective, key challenges and opportunities, such as the development of sustainable funding mechanisms, robust regulatory frameworks, and capacity building, are identified.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=BrianneO’Sullivan" target="_blank"> Brianne O’Sullivan* </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=AnthonyZhong" target="_blank"> Anthony Zhong </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=HannahLitchfield" target="_blank"> Hannah Litchfield </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=Brian Li HanWong" target="_blank"> Brian Li Han Wong </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=ElyséeNouvet" target="_blank"> Elysée Nouvet </a> </div> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Review</h4> <span>06 August 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/241">Considerations for Unmanned Aerial System (UAS) Beyond Visual Line of Sight (BVLOS) Operations</a> </h3> <p class="article-abseract clamp">This paper, intended for expert and non-expert audiences, evaluates the technical and regulatory requirements for Unmanned Aerial Systems (UAS) to operate beyond visual line of sight (BVLOS) services. UAS BVLOS operations have the potential to unlock value for the industry. However, the regulatory requirements and process can be complex and challenging for UAS operators. The work explored the BVLOS regulatory regime in the UK, Europe and the US and found similarities in process and requirements covering themes like Detect and Avoid (DAA), Remote identification and Reliable Connectivity. A unifying goal across these jurisdictions is to operate BVLOS safely and securely in non-segregated airspace. However, operating BVLOS in segregated airspace as the default or routine mode could accelerate approval and adoption. The paper reviewed existing challenges, highlighting Coverage, Capacity and Redundancy as critical for UAS BVLOS Operations. The work also highlighted the crucial role of Non-terrestrial Network (NTN) assets like Satellites and HAPS (High Altitude Platform Station) since terrestrial networks (not optimised for aerial platform coverage) may not be reliable for BVLOS connectivity.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=OgbonnayaAnicho" target="_blank"> Ogbonnaya Anicho* </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=AtulyaK.Nagar" target="_blank"> Atulya K. Nagar </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=JagdishC.Bansal" target="_blank"> Jagdish C. Bansal </a> </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/08/06/3eb30c0344f257f5bda5dde8fa1d9e2b.jpg" data-lightbox="image-5" data-title=""><img src="/uploads/2024/08/06/3eb30c0344f257f5bda5dde8fa1d9e2b.jpg" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>25 July 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/236">A Distributed Framework for Persistent Wildfire Monitoring with Fixed Wing UAVs</a> </h3> <p class="article-abseract clamp">Wildfires have proven to be a significantly exigent issue over the past decades. An increasing amount of research has recently been focused on the use of Unmanned Aerial Vehicles (UAVs) and multi-UAV systems for wildfire monitoring. This work focuses on the development of a decentralized framework for the purpose of monitoring active wildfires and their surrounding areas with fixed wing UAVs. It proposes a distributed fire data update methodology, a new formation algorithm based on virtual forces, fine-tuned by a Genetic Algorithm (GA), to arrange virtual agents into the monitoring area, and a control strategy to safely and efficiently guide fixed wing UAVs to loiter over the structured virtual agents. The system is tested in Software In The Loop (SITL) simulation with up to eight UAVs. The simulation results demonstrate the effectiveness of the system in monitoring the fire in a persistent manner and providing updated situational awareness data. The experiments show that the proposed framework is able to achieve and maintain coverage up to 100% over the area of interest, and very accurate fire representation. However, the performance is decreased for the experiments with low UAV numbers and large fire sizes.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=NikiPatrinopoulou" target="_blank"> Niki Patrinopoulou* </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=IoannisDaramouskas" target="_blank"> Ioannis Daramouskas </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=DimitriosMeimetis" target="_blank"> Dimitrios Meimetis </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=VaiosLappas" target="_blank"> Vaios Lappas </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=VassilisKostopoulos" target="_blank"> Vassilis Kostopoulos </a> </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/07/25/a75fba13451aa3d4f052c479d3e37f43.png" data-lightbox="image-6" data-title=""><img src="/uploads/2024/07/25/a75fba13451aa3d4f052c479d3e37f43.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>24 June 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/220">An Integer Programming Approach to Multi-Trip Routing of Delivery Drones at Load-Dependent Flight Speed</a> </h3> <p class="article-abseract clamp">In recent years, there has been a growing interest in utilizing drones for parcel delivery among companies, aiming to address logistical challenges. However, effective optimization of delivery routes is essential. A theoretical framework termed the Flight Speed-aware Vehicle Routing Problem (FSVRP) has emerged to address the variability in drone flight speed based on payload weight. Several approximate methods have been proposed to solve the FSVRP. Our research endeavors to optimize parcel delivery efficiency and reduce delivery times by introducing a novel delivery problem. This problem accounts for multiple deliveries while considering the variability in flight speed due to diverse payloads. Through experimentation, we evaluate the efficacy of our proposed method compared to existing approaches. Specifically, we assess total flight distance and flight time. Our findings indicate that even in cases where the payload exceeds maximum capacity, all parcels can be delivered through multiple trips. Furthermore, employing a multi-trip FSVRP approach results in an average reduction of 10% in total flight time, even when payload capacities are not exceeded.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=MaoNishira" target="_blank"> Mao Nishira </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=HirokiNishikawa" target="_blank"> Hiroki Nishikawa </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=XiangboKong" target="_blank"> Xiangbo Kong </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=HiroyukiTomiyama" target="_blank"> Hiroyuki Tomiyama* </a> </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/06/24/3c7ce33d353373d145c1c6953192dad4.png" data-lightbox="image-7" data-title=""><img src="/uploads/2024/06/24/3c7ce33d353373d145c1c6953192dad4.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>12 June 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/209">Optimized Real Time Single-Drone Path Planning for Harvesting Information from a Wireless Sensor Network</a> </h3> <p class="article-abseract clamp">We consider a remote sensing system in which fixed sensors are placed in a region, and a single drone flies over the region to collect information from cluster heads. We assume that the drone has a fixed maximum range and that the energy consumption for information transmission from the cluster heads increases with distance according to a power law. Given these assumptions, we derive local optimum conditions for a drone path that either minimizes the total or maximum energy required by the cluster heads to transmit information to the drone. We show how a homotopy approach can produce a family of solutions for different drone path lengths so that a locally optimal solution can be found for any drone range. We implement the homotopy solution in Python and demonstrate the tradeoff between drone range and cluster head power consumption for several geometries. Execution time is sufficiently rapid for the computation to be performed in real time so that the drone path can be recalculated on the fly. The solution is shown to be globally optimal for sufficiently long drone path lengths. A proof of concept implementation in Python is available on GitHub. For future work, we indicate how the solution can be modified to accommodate moving sensors.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=RamkumarGanapathy" target="_blank"> Ramkumar Ganapathy </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=ChristopherThron" target="_blank"> Christopher Thron* </a> </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/06/12/0fe3c2eb112e8259bf5b994c458cfd90.png" data-lightbox="image-8" data-title=""><img src="/uploads/2024/06/12/0fe3c2eb112e8259bf5b994c458cfd90.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>05 June 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/206">An Architecture for Early Wildfire Detection and Spread Estimation Using Unmanned Aerial Vehicles, Base Stations, and Space Assets</a> </h3> <p class="article-abseract clamp">This paper presents, an autonomous and scalable monitoring system for early detection and spread estimation of wildfires by leveraging low-cost UAVs, satellite data and ground sensors. An array of ground sensors, such as fixed towers equipped with infrared cameras and IoT sensors strategically placed in areas with a high probability of wildfire, will work in tandem with the space domain as well as the air domain to generate an accurate and comprehensive flow of information. This system-of-systems approach aims to take advantage of the key benefits across all systems while ensuring seamless cooperation. Having scalability and effectiveness in mind, the system is designed to work with low-cost COTS UAVs that leverage infrared and RGB sensors which will act as the primary situational awareness generator on demand. AI task allocation algorithms and swarming-oriented area coverage methods are at the heart of the system, effectively managing the aerial assets High-level mission planning takes place in the GCS, where information from all sensors is gathered and compiled into a user-understandable schema. In addition, the GCS issues warnings for events such as the detection of fire and hardware failures, live video feed and lower-level control of the swarm and IoT sensors when requested. By performing intelligent sensor fusion, this solution will offer unparalleled reaction times to wildfires while also being resilient and reconfigurable should any hardware failures arise by incorporating state of the art swarming capabilities.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=DimitriosMeimetis" target="_blank"> Dimitrios Meimetis </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=SofiaPapaioannou" target="_blank"> Sofia Papaioannou </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=ParaskeviKatsoni" target="_blank"> Paraskevi Katsoni </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=VaiosLappas" target="_blank"> Vaios Lappas* </a> </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/06/05/51b9045e61c7e519dd532545f462a09c.png" data-lightbox="image-9" data-title=""><img src="/uploads/2024/06/05/51b9045e61c7e519dd532545f462a09c.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>08 May 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/183">Assessing Drone Return-to-Home Landing Accuracy in a Woodland Landscape</a> </h3> <p class="article-abseract clamp">While aerial photography continues to play an integral role in forest management, its data acquisition can now be obtained through an unmanned aerial vehicle (UAV), commonly referred as a drone, instead of conventional manned aircraft. With its feasibility, a drone can be programed to take off, fly over an area following predefined paths and take images, then return to the home spot automatically. When flying over forests, it requires that there is an open space for a vertical takeoff drone to take off vertically and return safely. Hence, the automatic return-to-home feature on the drone is crucial when operating in a woodland landscape. In this project, we assessed the return-to-home landing accuracy based on a permanently marked launch pad nested in a wooded area on the campus of Stephen F. Austin State University in Nacogdoches, Texas. We compared four models of the DJI drone line, with each flown 30 missions over multiple days under different weather conditions. When each drone returned to the home launch spot and landed, the distance and direction from the launch spot to the landing position was measured. Results showed that both the Phantom 4 Advanced and the Spark had superior landing accuracy, whereas the Phantom 3 Advanced was the least accurate trailing behind the Phantom 4 Pro.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=I-KuaiHung" target="_blank"> I-Kuai Hung* </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=DanielUnger" target="_blank"> Daniel Unger </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=YanliZhang" target="_blank"> Yanli Zhang </a> </div> <div class="author-name"> <a href="https://scholar.google.com/scholar?q=DavidKulhavy" target="_blank"> David Kulhavy </a> </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/image/202405/08/1dde7fbaaf5e9c544bf4be0519ec60ba.png" data-lightbox="image-10" data-title=""><img src="/uploads/image/202405/08/1dde7fbaaf5e9c544bf4be0519ec60ba.png" class=""></a> </div> </div> </div> </div> <div class="tab-pane fade" id="id-downloaded"> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Communication</h4> <span>03 March 2023</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/19">Evaluating Different UAS Flight Methods for 3D Model Generation and Printing of a Tornado Destroyed Cultural Heritage: Caddo House in Texas</a> </h3> <p class="article-abseract clamp">In recent years, the use of Unmanned Aerial Systems (UAS) to obtain imagery for photogrammetry has become commonplace. Using these data to develop 3D products has also grown significantly in both research and commercial applications. This study aims to find a relatively simple and low cost UAS flight method as a means to obtain data to produce a 3D model suitable for 3D printing. The study subject chosen to assess different flight methods was the Caddo House at Caddo Mounds State Historical Site located near Alto, Cherokee County, Texas, USA. To collect images for analysis, a DJI Phantom 4 Pro UAS was used with Pix4DCapture mission control app. Two main missions were carried out, one being a pre-defined double-grid flight, and the other being an orbital free-flight method. The findings of this study indicate that if the goal is to create a true-to-life 3D model of an object using UAS, the best method would be a curated orbital free-flight method. If there is time constraint and the subject is sufficiently large and not considerably irregular, a double-grid mission with sufficient forward and side overlap can produce desirable results, but with a slight loss of fine details. The 3D model developed from the curated orbital flight method was successfully printed with a customer grade FDM 3D printer.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Yanli Zhang </div> <div class="author-name"> David Kulhavy </div> <div class="author-name"> Joseph Gerland </div> <div class="author-name"> I-Kuai Hung </div> <div class="author-name"> Daniel Unger </div> <div class="author-name"> Xiaorong Wen </div> <div class="author-name"> Reid Viegut </div> <div class="author-name"> YanliZhang </div> <div class="author-name"> David Kulhavy </div> <div class="author-name"> JosephGerland </div> <div class="author-name"> I-KuaiHung </div> <div class="author-name"> DanielUnger </div> <div class="author-name"> XiaorongWen </div> <div class="author-name"> ReidViegut </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2023/04/06/f696bcf4d0ffd402b5beacb46b260b01.png" data-lightbox="image-1" data-title=""><img src="/uploads/2023/04/06/f696bcf4d0ffd402b5beacb46b260b01.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Review</h4> <span>08 November 2023</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/83">Review on Drone-Assisted Air-Quality Monitoring Systems</a> </h3> <p class="article-abseract clamp">Drone-aided systems have gained popularity in the last few decades due to their stability in various commercial sectors and military applications. The conventional ambient air quality monitoring stations (AAQMS) are immovable and big. This drawback has been significantly overcome by drone-aided low-cost sensor (LCS) modules. As a result, much research work, media information, and technical notes have been released on drone-aided air quality and ecological monitoring and mapping applications. This work is a sincere effort to provide a comprehensive and structured review of commercial drone applications for air quality and environmental monitoring. The collected scientific and non-scientific information was divided according to the different drone models, sensor types, and payload weights. The payload component is very critical in stablility of the multirotor drones. Most study projects installed inexpensive sensors on drones according to the avilibility of the space on drone frame. After reviewing of multiple environmental applications the common payload range was 0 gm to 4000 gm. The crucial elements are addressed, including their relation to meteorological factors, air isokinetics, propeller-induced downwash, sensor mounting location, ramifications etc. As a result, technical recommendations for AQ monitoring assisted by drones are addressed in the debate part. This work will help researchers and environmentalists choose sensor-specific payloads for drones and mounting locations. Also, it enables advanced methods of monitoring parameters that help policymakers to frame advanced protocols and sensor databases for the environment and ecology.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> PiyushKokate </div> <div class="author-name"> AnirbanMiddey </div> <div class="author-name"> Shashikant Sadistap </div> <div class="author-name"> GauravSarode </div> <div class="author-name"> AnveshaNarayan </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2023/11/17/07d597be4f2a7b5b8d0016ebb9e2e732.png" data-lightbox="image-2" data-title=""><img src="/uploads/2023/11/17/07d597be4f2a7b5b8d0016ebb9e2e732.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>26 January 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/122">A Lightweight Visual Navigation and Control Approach to the 2022 RoboMaster Intelligent UAV Championship</a> </h3> <p class="article-abseract clamp">In this paper, an autonomous system is developed for drone racing. On account of their vast consumption of computing resources, the methods for visual navigation commonly employed are discarded, such as visual-inertial odometry (VIO) or simultaneous localization and mapping (SLAM). A series of navigation algorithms for autonomous drone racing, which can operate without the aid of the information on the external position, are proposed: one for lightweight gate detection, achieving gates detection with a frequency of 60 Hz; one for direct collision detection, seeking the maximum passability in-depth images. Besides, a velocity planner is adopted to generate velocity commands according to the results from visual navigation, which are enabled to perform a guidance role when the drone is approaching and passing through gates, assisting it in avoiding obstacles and searching for temporarily invisible gates. The approach proposed above has been demonstrated to successfully help our drone passing-through complex environments with a maximum speed of 2.5 m/s and ranked first at the 2022 RoboMaster Intelligent UAV Championship.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> SijieYang </div> <div class="author-name"> WenqiSong </div> <div class="author-name"> RunxiaoLiu </div> <div class="author-name"> QuanQuan </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/04/29/420a3d9dd7fe9616a2507e39a424b34c.png" data-lightbox="image-3" data-title=""><img src="/uploads/2024/04/29/420a3d9dd7fe9616a2507e39a424b34c.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>22 December 2022</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/10">Image Fusion Capability from Different Cameras for UAV in Cultural Heritage Applications</a> </h3> <p class="article-abseract clamp"> In this paper, image fusion is performed by utilizing images derived from different cameras for the unmanned aerial vehicle (UAV). By producing the fused image, the spatial resolution of the multispectral (MS) image is improved on the one hand and the classification accuracy on the other hand. First, however, the horizontal and vertical accuracy of the generated products, orthophoto mosaics, and digital surface models, is determined using checkpoints that do not participate in the processing of the image blocks. Also, the changes of these accuracies with a 50% increase (or decrease) of the UAV's flight height are determined. The study area is the Early Christian Basilica C and the flanking Roman buildings, at the archaeological site of Amphipolis (Eastern Macedonia, Greece).</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Dimitrios Kaimaris </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2023/03/07/78fb0959194c0de3a55d9f2e137d81c0.png" data-lightbox="image-4" data-title=""><img src="/uploads/2023/03/07/78fb0959194c0de3a55d9f2e137d81c0.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Editorial</h4> <span>25 October 2022</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/4"><i>Drones and Autonomous Vehicles</i> — A New Open-access Journal for Multidisciplinary Research on Autonomous Systems</a> </h3> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Zhengtao Ding </div> <div class="author-name"> Haibin Duan </div> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>10 October 2023</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/75">ℒ<sub>1</sub> Adaptive Control of Quadrotor UAVs in Case of Inversion of the Torque Direction</a> </h3> <p class="article-abseract clamp">This paper presents a method for fault tolerant control of quadrotor UAVs in case of inversion of the torque direction, a situation that might occur due to structural, hardware or software issues. The proposed design is based on multiple-model ℒ<sub>1</sub> adaptive control. The controller is composed of a nominal reference model and a set of degraded reference models. The nominal model is that with desired dynamics that are optimal regarding some specific criteria. In a degraded model, the performance criteria are reduced. It is designed to ensure system robustness in the presence of critical failures. The controller is tested in simulations and it is shown that the multiple model ℒ<sub>1</sub> adaptive controller stabilizes the system in case of inversion of the control input, while the ℒ<sub>1</sub> adaptive controller with a single nominal model fails.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> ToufikSouanef </div> <div class="author-name"> JamesWhidborne </div> <div class="author-name"> AhseneBoubakir </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/06/25/1efbbc0fce7b1490a22bfab430065035.png" data-lightbox="image-6" data-title=""><img src="/uploads/2024/06/25/1efbbc0fce7b1490a22bfab430065035.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>27 November 2023</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/89">Enhancing the Monitoring Protocols of Intermittent Flow Rivers with UAV-Based Optical Methods to Estimate the River Flow and Evaluate Their Environmental Status</a> </h3> <p class="article-abseract clamp">Temporary streams are a key component of the hydrological cycle in arid and semi-arid regions, but their flow is highly variable and difficult to measure. In this paper, we present a novel approach that could be used to assess the flow of temporary streams this allowing to characterize their environmental status. Specifically, we apply the Image Velocimetry (IV) method to estimate surface velocity in temporary streams using Unmanned Aerial Vehicles (UAVs) equipped with optical sensors (IV-UAV method). The IV-UAV method enables the easy, safe and quick estimation of the velocity on the water’s surface. This method was applied in different temporary streams in Lesvos Island, Greece. The results obtained indicate that the IV-UAV can be implemented at low discharges, temporary streams and small streams. Specifically, the water depth ranged from 0.02 m to 0.28 m, while the channel width ranged from 0.6 m to 4.0 m. The estimated surface velocity ranged from 0.0 to 5.5 m/s; thus, the maximum water discharge was 0.60 m<sup>3</sup>/s for the largest monitored stream of the island. However, there were many occasions that measurements were unable due to various reasons such as dense vegetation or archaeological sites. Despite of this, the proposed methodology could be incorporated in optical protocols which are used to assess the environmental status of temporary streams of Mediterranean conditions. Finally, this would become a valuable tool for understanding the dynamics of these ecosystems and monitoring changes over time.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> PaschalisKoutalakis </div> <div class="author-name"> Mairi-DanaiStamataki </div> <div class="author-name"> OuraniaTzoraki </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2023/12/05/3dabb7c649e5b2f56071d17f1a051501.png" data-lightbox="image-7" data-title=""><img src="/uploads/2023/12/05/3dabb7c649e5b2f56071d17f1a051501.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>19 March 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/148">Designing a Quadcopter for Fire and Temperature Detection with an Infrared Camera and PIR Sensor</a> </h3> <p class="article-abseract clamp">In agriculture, medicine, and engineering, sudden fire outbreaks are prevalent. During such events, the ensuing fire spread is extensive and unpredictable, necessitating crucial data for effective response and control. To address this need, the current initiative focuses on utilizing an Unmanned Aerial Vehicle (UAV) with an Infrared (IR) sensor. This sensor detects and analyses temperature variations, accompanied by additional camera footage capturing thermal images to pinpoint the locations of the incidents precisely. The UAV’s programming is executed using Arduino-Nano and mission planner software, interfacing with the Pixhawk flight controller operating in a guided mode for autonomous navigation. The UAV configuration includes a radio module interfacing with Arduino-Nano, a flight controller, and remote-control functionality. The flight duration is approximately 10–15 min, contingent upon flight dynamics and environmental temperature. Throughout its airborne operation, the UAV transmits live telemetry and log feeds to the connected computer, displaying critical parameters such as altitude, temperature, battery status, vertical speed, and distance from the operator. The Pixhawk flight controller is specifically programmed to govern the UAV’s behavior, issuing warnings to the pilot in case of low voltage, prompting a timely landing to avert potential crashes. In case of in-flight instability or a crash, the mission planner can trace the UAV’s location, facilitating efficient recovery and minimizing costs and component availability losses. This integrated approach enhances situational awareness and mitigation strategies, offering a comprehensive solution for managing fire incidents in diverse fields.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Guruprasad Rathinakumar </div> <div class="author-name"> EfstratiosL.Ntantis </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/03/21/a1760e636bde51674c7a315e202cfa48.png" data-lightbox="image-8" data-title=""><img src="/uploads/2024/03/21/a1760e636bde51674c7a315e202cfa48.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>16 January 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/110">A Position-based Hybrid Routing Protocol for Clustered Flying Ad Hoc Networks</a> </h3> <p class="article-abseract clamp">Unmanned aerial vehicles (UAVs) have been used to establish flying ad hoc networks (FANETs) to support wireless communication in various scenarios, from disaster situations to wireless coverage extensions. However, the operation of FANETs faces mobility, wireless network variations and topology challenges. Conventional mobile ad hoc network and vehicular ad hoc network routing concepts have rarely been applied to FANETs, and even then they have produced unsatisfactory performance due to additional challenges not found in such networks. For instance, position-based routing protocols have been applied in FANET, but have failed to achieve adequate performance in large networks. Clustering solutions have also been used in large networks, but with a significant overhead in keeping track of the complete topology. Hence, to solve this problem, we propose a hybrid position-based segment-by-segment routing mechanism for clustered FANETs. This approach facilitates traffic engineering across multiple wireless clusters by combining position-based inter-cluster routing with a rank-based intra-cluster routing approach capable of balancing traffic loads between alternative cluster heads. Simulation results show that our solution achieves, on average, a lower power consumption of 72.5 J, a higher throughput of 275 Mbps and a much lower routing overhead of 17.5% when compared to other state-of-the-art end-to-end routing approaches.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Godwin Asaamoning </div> <div class="author-name"> Paulo Mendes </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/04/29/03fd7eadb0e572fa138ce9ad9202b16f.png" data-lightbox="image-9" data-title=""><img src="/uploads/2024/04/29/03fd7eadb0e572fa138ce9ad9202b16f.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>05 June 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/206">An Architecture for Early Wildfire Detection and Spread Estimation Using Unmanned Aerial Vehicles, Base Stations, and Space Assets</a> </h3> <p class="article-abseract clamp">This paper presents, an autonomous and scalable monitoring system for early detection and spread estimation of wildfires by leveraging low-cost UAVs, satellite data and ground sensors. An array of ground sensors, such as fixed towers equipped with infrared cameras and IoT sensors strategically placed in areas with a high probability of wildfire, will work in tandem with the space domain as well as the air domain to generate an accurate and comprehensive flow of information. This system-of-systems approach aims to take advantage of the key benefits across all systems while ensuring seamless cooperation. Having scalability and effectiveness in mind, the system is designed to work with low-cost COTS UAVs that leverage infrared and RGB sensors which will act as the primary situational awareness generator on demand. AI task allocation algorithms and swarming-oriented area coverage methods are at the heart of the system, effectively managing the aerial assets High-level mission planning takes place in the GCS, where information from all sensors is gathered and compiled into a user-understandable schema. In addition, the GCS issues warnings for events such as the detection of fire and hardware failures, live video feed and lower-level control of the swarm and IoT sensors when requested. By performing intelligent sensor fusion, this solution will offer unparalleled reaction times to wildfires while also being resilient and reconfigurable should any hardware failures arise by incorporating state of the art swarming capabilities.</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> DimitriosMeimetis </div> <div class="author-name"> SofiaPapaioannou </div> <div class="author-name"> ParaskeviKatsoni </div> <div class="author-name"> VaiosLappas </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/06/05/51b9045e61c7e519dd532545f462a09c.png" data-lightbox="image-10" data-title=""><img src="/uploads/2024/06/05/51b9045e61c7e519dd532545f462a09c.png" class=""></a> </div> </div> </div> </div> <div class="tab-pane fade" id="id-popular"> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Communication</h4> <span>03 March 2023</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/19">Evaluating Different UAS Flight Methods for 3D Model Generation and Printing of a Tornado Destroyed Cultural Heritage: Caddo House in Texas</a> </h3> <p class="article-abseract clamp"> In recent years, the use of Unmanned Aerial Systems (UAS) to obtain imagery for photogrammetry has become commonplace. Using these data to develop 3D products has also grown significantly in both research and commercial applications. This study aims to find a relatively simple and low cost UAS flight method as a means to obtain data to produce a 3D model suitable for 3D printing. The study subject chosen to assess different flight methods was the Caddo House at Caddo Mounds State Historical Site located near Alto, Cherokee County, Texas, USA. To collect images for analysis, a DJI Phantom 4 Pro UAS was used with Pix4DCapture mission control app. Two main missions were carried out, one being a pre-defined double-grid flight, and the other being an orbital free-flight method. The findings of this study indicate that if the goal is to create a true-to-life 3D model of an object using UAS, the best method would be a curated orbital free-flight method. If there is time constraint and the subject is sufficiently large and not considerably irregular, a double-grid mission with sufficient forward and side overlap can produce desirable results, but with a slight loss of fine details. The 3D model developed from the curated orbital flight method was successfully printed with a customer grade FDM 3D printer.utf-8</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Yanli Zhang </div> <div class="author-name"> David Kulhavy </div> <div class="author-name"> Joseph Gerland </div> <div class="author-name"> I-Kuai Hung </div> <div class="author-name"> Daniel Unger </div> <div class="author-name"> Xiaorong Wen </div> <div class="author-name"> Reid Viegut </div> <div class="author-name"> YanliZhang </div> <div class="author-name"> David Kulhavy </div> <div class="author-name"> JosephGerland </div> <div class="author-name"> I-KuaiHung </div> <div class="author-name"> DanielUnger </div> <div class="author-name"> XiaorongWen </div> <div class="author-name"> ReidViegut </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2023/04/06/f696bcf4d0ffd402b5beacb46b260b01.png" data-lightbox="image-1" data-title=""><img src="/uploads/2023/04/06/f696bcf4d0ffd402b5beacb46b260b01.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Editorial</h4> <span>25 October 2022</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/4"><i>Drones and Autonomous Vehicles</i> — A New Open-access Journal for Multidisciplinary Research on Autonomous Systems</a> </h3> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Zhengtao Ding </div> <div class="author-name"> Haibin Duan </div> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>22 December 2022</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/10">Image Fusion Capability from Different Cameras for UAV in Cultural Heritage Applications</a> </h3> <p class="article-abseract clamp"> In this paper, image fusion is performed by utilizing images derived from different cameras for the unmanned aerial vehicle (UAV). By producing the fused image, the spatial resolution of the multispectral (MS) image is improved on the one hand and the classification accuracy on the other hand. First, however, the horizontal and vertical accuracy of the generated products, orthophoto mosaics, and digital surface models, is determined using checkpoints that do not participate in the processing of the image blocks. Also, the changes of these accuracies with a 50% increase (or decrease) of the UAV's flight height are determined. The study area is the Early Christian Basilica C and the flanking Roman buildings, at the archaeological site of Amphipolis (Eastern Macedonia, Greece).utf-8</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Dimitrios Kaimaris </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2023/03/07/78fb0959194c0de3a55d9f2e137d81c0.png" data-lightbox="image-3" data-title=""><img src="/uploads/2023/03/07/78fb0959194c0de3a55d9f2e137d81c0.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Review</h4> <span>08 November 2023</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/83">Review on Drone-Assisted Air-Quality Monitoring Systems</a> </h3> <p class="article-abseract clamp"> Drone-aided systems have gained popularity in the last few decades due to their stability in various commercial sectors and military applications. The conventional ambient air quality monitoring stations (AAQMS) are immovable and big. This drawback has been significantly overcome by drone-aided low-cost sensor (LCS) modules. As a result, much research work, media information, and technical notes have been released on drone-aided air quality and ecological monitoring and mapping applications. This work is a sincere effort to provide a comprehensive and structured review of commercial drone applications for air quality and environmental monitoring. The collected scientific and non-scientific information was divided according to the different drone models, sensor types, and payload weights. The payload component is very critical in stablility of the multirotor drones. Most study projects installed inexpensive sensors on drones according to the avilibility of the space on drone frame. After reviewing of multiple environmental applications the common payload range was 0 gm to 4000 gm. The crucial elements are addressed, including their relation to meteorological factors, air isokinetics, propeller-induced downwash, sensor mounting location, ramifications etc. As a result, technical recommendations for AQ monitoring assisted by drones are addressed in the debate part. This work will help researchers and environmentalists choose sensor-specific payloads for drones and mounting locations. Also, it enables advanced methods of monitoring parameters that help policymakers to frame advanced protocols and sensor databases for the environment and ecology.utf-8</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> PiyushKokate </div> <div class="author-name"> AnirbanMiddey </div> <div class="author-name"> Shashikant Sadistap </div> <div class="author-name"> GauravSarode </div> <div class="author-name"> AnveshaNarayan </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2023/11/17/07d597be4f2a7b5b8d0016ebb9e2e732.png" data-lightbox="image-4" data-title=""><img src="/uploads/2023/11/17/07d597be4f2a7b5b8d0016ebb9e2e732.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>10 October 2023</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/75">ℒ<sub>1</sub> Adaptive Control of Quadrotor UAVs in Case of Inversion of the Torque Direction</a> </h3> <p class="article-abseract clamp"> This paper presents a method for fault tolerant control of quadrotor UAVs in case of inversion of the torque direction, a situation that might occur due to structural, hardware or software issues. The proposed design is based on multiple-model ℒ<sub>1</sub> adaptive control. The controller is composed of a nominal reference model and a set of degraded reference models. The nominal model is that with desired dynamics that are optimal regarding some specific criteria. In a degraded model, the performance criteria are reduced. It is designed to ensure system robustness in the presence of critical failures. The controller is tested in simulations and it is shown that the multiple model ℒ<sub>1</sub> adaptive controller stabilizes the system in case of inversion of the control input, while the ℒ<sub>1</sub> adaptive controller with a single nominal model fails.utf-8</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> ToufikSouanef </div> <div class="author-name"> JamesWhidborne </div> <div class="author-name"> AhseneBoubakir </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/06/25/1efbbc0fce7b1490a22bfab430065035.png" data-lightbox="image-5" data-title=""><img src="/uploads/2024/06/25/1efbbc0fce7b1490a22bfab430065035.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>26 January 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/122">A Lightweight Visual Navigation and Control Approach to the 2022 RoboMaster Intelligent UAV Championship</a> </h3> <p class="article-abseract clamp"> In this paper, an autonomous system is developed for drone racing. On account of their vast consumption of computing resources, the methods for visual navigation commonly employed are discarded, such as visual-inertial odometry (VIO) or simultaneous localization and mapping (SLAM). A series of navigation algorithms for autonomous drone racing, which can operate without the aid of the information on the external position, are proposed: one for lightweight gate detection, achieving gates detection with a frequency of 60 Hz; one for direct collision detection, seeking the maximum passability in-depth images. Besides, a velocity planner is adopted to generate velocity commands according to the results from visual navigation, which are enabled to perform a guidance role when the drone is approaching and passing through gates, assisting it in avoiding obstacles and searching for temporarily invisible gates. The approach proposed above has been demonstrated to successfully help our drone passing-through complex environments with a maximum speed of 2.5 m/s and ranked first at the 2022 RoboMaster Intelligent UAV Championship.utf-8</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> SijieYang </div> <div class="author-name"> WenqiSong </div> <div class="author-name"> RunxiaoLiu </div> <div class="author-name"> QuanQuan </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/04/29/420a3d9dd7fe9616a2507e39a424b34c.png" data-lightbox="image-6" data-title=""><img src="/uploads/2024/04/29/420a3d9dd7fe9616a2507e39a424b34c.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>27 November 2023</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/89">Enhancing the Monitoring Protocols of Intermittent Flow Rivers with UAV-Based Optical Methods to Estimate the River Flow and Evaluate Their Environmental Status</a> </h3> <p class="article-abseract clamp"> Temporary streams are a key component of the hydrological cycle in arid and semi-arid regions, but their flow is highly variable and difficult to measure. In this paper, we present a novel approach that could be used to assess the flow of temporary streams this allowing to characterize their environmental status. Specifically, we apply the Image Velocimetry (IV) method to estimate surface velocity in temporary streams using Unmanned Aerial Vehicles (UAVs) equipped with optical sensors (IV-UAV method). The IV-UAV method enables the easy, safe and quick estimation of the velocity on the water’s surface. This method was applied in different temporary streams in Lesvos Island, Greece. The results obtained indicate that the IV-UAV can be implemented at low discharges, temporary streams and small streams. Specifically, the water depth ranged from 0.02 m to 0.28 m, while the channel width ranged from 0.6 m to 4.0 m. The estimated surface velocity ranged from 0.0 to 5.5 m/s; thus, the maximum water discharge was 0.60 m<sup>3</sup>/s for the largest monitored stream of the island. However, there were many occasions that measurements were unable due to various reasons such as dense vegetation or archaeological sites. Despite of this, the proposed methodology could be incorporated in optical protocols which are used to assess the environmental status of temporary streams of Mediterranean conditions. Finally, this would become a valuable tool for understanding the dynamics of these ecosystems and monitoring changes over time.utf-8</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> PaschalisKoutalakis </div> <div class="author-name"> Mairi-DanaiStamataki </div> <div class="author-name"> OuraniaTzoraki </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2023/12/05/3dabb7c649e5b2f56071d17f1a051501.png" data-lightbox="image-7" data-title=""><img src="/uploads/2023/12/05/3dabb7c649e5b2f56071d17f1a051501.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>19 March 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/148">Designing a Quadcopter for Fire and Temperature Detection with an Infrared Camera and PIR Sensor</a> </h3> <p class="article-abseract clamp"> In agriculture, medicine, and engineering, sudden fire outbreaks are prevalent. During such events, the ensuing fire spread is extensive and unpredictable, necessitating crucial data for effective response and control. To address this need, the current initiative focuses on utilizing an Unmanned Aerial Vehicle (UAV) with an Infrared (IR) sensor. This sensor detects and analyses temperature variations, accompanied by additional camera footage capturing thermal images to pinpoint the locations of the incidents precisely. The UAV’s programming is executed using Arduino-Nano and mission planner software, interfacing with the Pixhawk flight controller operating in a guided mode for autonomous navigation. The UAV configuration includes a radio module interfacing with Arduino-Nano, a flight controller, and remote-control functionality. The flight duration is approximately 10–15 min, contingent upon flight dynamics and environmental temperature. Throughout its airborne operation, the UAV transmits live telemetry and log feeds to the connected computer, displaying critical parameters such as altitude, temperature, battery status, vertical speed, and distance from the operator. The Pixhawk flight controller is specifically programmed to govern the UAV’s behavior, issuing warnings to the pilot in case of low voltage, prompting a timely landing to avert potential crashes. In case of in-flight instability or a crash, the mission planner can trace the UAV’s location, facilitating efficient recovery and minimizing costs and component availability losses. This integrated approach enhances situational awareness and mitigation strategies, offering a comprehensive solution for managing fire incidents in diverse fields.utf-8</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Guruprasad Rathinakumar </div> <div class="author-name"> EfstratiosL.Ntantis </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/03/21/a1760e636bde51674c7a315e202cfa48.png" data-lightbox="image-8" data-title=""><img src="/uploads/2024/03/21/a1760e636bde51674c7a315e202cfa48.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>16 January 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/110">A Position-based Hybrid Routing Protocol for Clustered Flying Ad Hoc Networks</a> </h3> <p class="article-abseract clamp"> Unmanned aerial vehicles (UAVs) have been used to establish flying ad hoc networks (FANETs) to support wireless communication in various scenarios, from disaster situations to wireless coverage extensions. However, the operation of FANETs faces mobility, wireless network variations and topology challenges. Conventional mobile ad hoc network and vehicular ad hoc network routing concepts have rarely been applied to FANETs, and even then they have produced unsatisfactory performance due to additional challenges not found in such networks. For instance, position-based routing protocols have been applied in FANET, but have failed to achieve adequate performance in large networks. Clustering solutions have also been used in large networks, but with a significant overhead in keeping track of the complete topology. Hence, to solve this problem, we propose a hybrid position-based segment-by-segment routing mechanism for clustered FANETs. This approach facilitates traffic engineering across multiple wireless clusters by combining position-based inter-cluster routing with a rank-based intra-cluster routing approach capable of balancing traffic loads between alternative cluster heads. Simulation results show that our solution achieves, on average, a lower power consumption of 72.5 J, a higher throughput of 275 Mbps and a much lower routing overhead of 17.5% when compared to other state-of-the-art end-to-end routing approaches.utf-8</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> Godwin Asaamoning </div> <div class="author-name"> Paulo Mendes </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/04/29/03fd7eadb0e572fa138ce9ad9202b16f.png" data-lightbox="image-9" data-title=""><img src="/uploads/2024/04/29/03fd7eadb0e572fa138ce9ad9202b16f.png" class=""></a> </div> </div> </div> <div class="d-flex article-box pt-3 pb-3"> <div class="sc-width-200 pr-3"> <h4>Article</h4> <span>26 April 2024</span> </div> <div class="sc-flex-value1 d-flex flex-wrap"> <div> <h3 class="article-title"> <a class="anchor" href="/article/pii/180">Exact and Heuristic Approaches to Surveillance Routing with a Minimum Number of Drones</a> </h3> <p class="article-abseract clamp"> The rising cost and scarcity of human labor pose challenges in security patrolling tasks, such as facility security. Drones offer a promising solution to replace human patrols. This paper proposes two methods for finding the minimum number of drones required for efficient surveillance routing: an ILP-based method and a greedy method. We evaluate these methods through experiments, comparing the minimum number of required drones and algorithm runtime. The findings indicate that the ILP-based method consistently yields the same or a lower number of drones needed for surveillance compared to the greedy method, with a 73.3% success rate in achieving better results. However, the greedy method consistently finishes within one second, whereas the ILP-based method sometimes significantly increases when dealing with 14 more locations. As a case study, we apply the greedy method to identify the minimum drone surveillance route for the Osaka-Ibaraki Campus of Ritsumeikan University.utf-8</p> </div> <div class="authors-list align-self-end"> <i class="fal fa-user"></i> <div class="author-name"> KaitoMori </div> <div class="author-name"> MaoNishira </div> <div class="author-name"> HirokiNishikawa </div> <div class="author-name"> HiroyukiTomiyama </div> </div> </div> <div class="article-img"> <div class="img-thumbnail"> <a href="/uploads/2024/05/27/20803b4b73411680fb36460dc6aad958.png" data-lightbox="image-10" data-title=""><img src="/uploads/2024/05/27/20803b4b73411680fb36460dc6aad958.png" class=""></a> </div> </div> </div> </div> </div> </div> </section> <section id="recent-posts-4" class="widget widget_recent_entries news-card mb-2"> <div class="my-body-container padding0"> <div class="section-heading"> <h3 class="section-title"> News </h3> </div> <ul class="d-flex align-content-around flex-wrap news-list row row-cols-1 row-cols-xl-4 row-cols-lg-3 row-cols-md-2 row-cols-sm-1 mt-3 ml-n2 mr-n2"> <li class="col mb-3 pl-2 pr-2 pb-3 d-flex flex-wrap"> <div> <div class="img"> <a href="/news/6th-drone-international-expo-new-delhi"> <img src="/uploads/2024/09/25/17272320275t1a.jpg" alt=" 6th Drone International Expo , New Delhi" /> </a> </div> <div class="uk-card-title"> <a class="anchor" href="/news/6th-drone-international-expo-new-delhi"> 6th Drone International Expo , New Delhi</a> </div> </div> <div class="news-date align-self-end">31 July-1 August 2025 | Bharat Mandapam (Pragati Maidan), New Delhi, India</div> </li> <li class="col mb-3 pl-2 pr-2 pb-3 d-flex flex-wrap"> <div> <div class="img"> <a href="/news/1st-international-conference-on-drones-and-unmanned-systems-daus-2025-"> <img src="/uploads/2024/09/04/1725414028dxrr.jpg" alt="1st International Conference on Drones and Unmanned Systems (DAUS' 2025)" /> </a> </div> <div class="uk-card-title"> <a class="anchor" href="/news/1st-international-conference-on-drones-and-unmanned-systems-daus-2025-">1st International Conference on Drones and Unmanned Systems (DAUS' 2025)</a> </div> </div> <div class="news-date align-self-end">19-21 February 2025 | Granada, Spain</div> </li> <div class="white-border"></div> </ul> </div> </section> <section id="recent-posts-4" class="widget widget_recent_entries mb-3"> <div class="my-body-container padding0"> <div class="section-heading"> <h3 class="section-title"> Topic Collection </h3> </div> <div class="ts-box2 article-box pt-3 pb-3"> <div class="text articles-list"> <h3 class="article-title mb-2"> <a href="/journals/dav/special_issues/Distributed_Theory">Distributed Theory in Applications of Autonomous Vehicles</a> </h3> <div class="post-tags mt-10"> <ul> <li class="mb-2 article-abseract"> <p> <span class="mr-2">Topic in</span>Distributed Theory; Autonomous Vehicles; Distributed Path; Distributed Trajectory; Distributed Guidance; Distributed Sensing; Distributed Control; Distributed Filter; Distributed Optimization; Multi-vehicle Systems </p> </li> <li class="article-abseract clamp card-text article-authors">Topic Editor: <span>Zongyu Zuo</span> <span>Yao Zou</span> <span>Zhongguo Li</span> </li> <li class="authors-list"> <a class="author-name" href="javascript:;"> <i class="fal fa-clock"></i></span> <span class="article-date">Deadline: 15 January 2024</span> </a> </li> </ul> </div> </div> </div> </div> </section> <section class="issues-item mb-4"> <div class="my-body-container padding0"> <div class="section-heading section-heading-padding"> <h3 class="section-title"> Journal Issues <a class="right" href="/journals/dav/issues" target="_blank"> All issues <svg xmlns="http://www.w3.org/2000/svg" width="12" height="12" fill="currentColor" class="bi bi-chevron-double-right" viewBox="0 0 16 16"> <path fill-rule="evenodd" d="M3.646 1.646a.5.5 0 0 1 .708 0l6 6a.5.5 0 0 1 0 .708l-6 6a.5.5 0 0 1-.708-.708L9.293 8 3.646 2.354a.5.5 0 0 1 0-.708z"/> <path 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