Drones, Volume 6, Issue 5 (May 2022) – 36 articles

The unmanned aerial vehicle (UAV) path planning problem is primarily concerned with avoiding collision with obstacles while determining the best flight path to the target position. This paper first establishes a cost function to transform the UAV route planning issue into an optimization issue that meets the UAV’s feasible path requirements and path safety constraints. Then, this paper introduces a modified Mayfly Algorithm (modMA), which employs an exponent decreasing inertia weight (EDIW) strategy, adaptive Cauchy mutation, and an enhanced crossover operator to effectively search the UAV configuration space and discover the path with the lowest overall cost. Finally, the proposed modMA is evaluated on 26 benchmark functions as well as the UAV route planning problem, and the results demonstrate that it outperforms the other compared algorithms. Full article

Drones, which were first used in military applications, are now widely used by civilians for various purposes such as for deliveries and as cameras. There has been a lack of research into what drone users expect in terms of drone design and operation from a user perspective. In order to figure out what users want from drones, it is necessary to investigate the perception and design preferences of users with regard to drones. Surveys were conducted to collect data on preferences for various aspects of the design and operation of drone technology. Features relevant to the design and operation of drones were considered. We have identified the underlying factor structures of drone design and operation: outdoor mission type, user interface, military mission type, usefulness, risk, special mission type, and concern. The most important factors that contribute to all the dependent variables are the user interface and usefulness. The fact that drones will be increasingly used in the future is clear; however, the purpose of this study was to find out the areas on which to focus and pay further attention. Full article

Climate-related natural disasters have affected the lives of thousands of people. Global warming creates warmer and drier conditions which increase the risk of wildfires. In large-scale disasters such as wildfires, search and rescue (SAR) operations become extremely challenging due to low visibility, difficulty to breath, and high temperature from fire and smoke. Unmanned aerial vehicles (UAVs), such as drones, have been used to support such operations. In our previous work, a Krypto module is proposed to “sniff” out wireless signals from mobile phones to locate any possible survivors. With the increased popularity of drones, it is possible to allow people to volunteer in SAR operations with their drones. In this paper, we propose an Open Collaborative Platform for multiple drones to assist SAR operations. The open platform manages different searching drones that carry the Krypto module to collaborate by sharing information and planning search paths/areas. With our Open Collaborative Platform, anyone can participate in SAR operations and contribute to finding possible survivors. The novelty of this work is the openness and collaboration of the platform that “crowdsourcing” the searching operation to a large group of people who share information and contribute to finding possible survivors in a large disaster such as wildfires. Our experimental study shows that the Open Collaborative Platform is effective in reducing both the number of drones required and the search time for finding survivors. Full article

In this study, experimental investigations are used to explore the wake propagation and characteristics of a multi-rotor unmanned air vehicle (UAV) in a forward flight mission. Qualitative smoke visualization is used first to gain a qualitative understanding of wake characteristics above and below the body of the multi-rotor UAV which is used as guidance for quantitative particle image velocimetry (PIV) experiments which better resolve the region in the vicinity of the multi-rotor UAV body. The experimental results over a wide range of advance ratios show that as the advance ratio increases, achieved by either lower rotor speeds or higher flight speeds, the distance by which the wake propagates below the UAV is reduced. While above the UAV, the flow returns to the freestream flow closer to the body as the advance ratio increases. Therefore, this study concludes that proximity effects are reduced as the advance ratio increases. Findings from this study can be used to inform in situ sensor placement so that sensor readings are minimally affected by the wake from the multi-rotor UAV. Velocity measurement corrections are provided for sensors mounted above the UAV which can be used to improve sensor data reliability in forward flight. These results can advance autonomous sensing and increase the utility of multi-rotor UAV observations while providing designers and users further guidance to avoid proximity effects. Full article

The core of the short takeoff and landing problem in thrust-vectoring V/STOL vehicles is the tilt angle control of the thrust vector nozzles. This work resolves it by figuring out the optimal tilt angle time history with optimization methods. Since the optimization process is constrained by the transition corridor of the vehicle and the mission requirements, the transition corridor is firstly established by the AES theory with the longitudinal model of the V/STOL protype, where the jet-induced effect of the 3BSD nozzle and the lift fan are especially considered. In addition, the control redundancy caused by the multiple physical control actuators is addressed by a suitable control allocation and flight-mode-based control strategy, which ensures a smooth conversion. By establishing appropriate mission references and optimization constraints, the optimal control strategy and the corresponding transition process are obtained, based on the direct inverse and SQP algorithms. Full article

Emerging precision agriculture techniques rely on the frequent collection of high-quality data which can be acquired efficiently by unmanned aerial systems (UAS). The main obstacle for wider adoption of this technology is related to UAS operational costs. The path forward requires a high degree of autonomy and integration of the UAS and other cyber physical systems on the farm into a common Farm Management System (FMS) to facilitate the use of big data and artificial intelligence (AI) techniques for decision support. Such a solution has been implemented in the EU project AFarCloud (Aggregated Farming in the Cloud). The regulation of UAS operations is another important factor that impacts the adoption rate of agricultural UAS. An analysis of the new European UAS regulations relevant for autonomous operation is included. Autonomous UAS operation through the AFarCloud FMS solution has been demonstrated at several test farms in multiple European countries. Novel applications have been developed, such as the retrieval of data from remote field sensors using UAS and in situ measurements using dedicated UAS payloads designed for physical contact with the environment. The main findings include that (1) autonomous UAS operation in the agricultural sector is feasible once the regulations allow this; (2) the UAS should be integrated with the FMS and include autonomous data processing and charging functionality to offer a practical solution; and (3) several applications beyond just asset monitoring are relevant for the UAS and will help to justify the cost of this equipment. Full article

In the past two decades, Unmanned Aerial Vehicles (UAVs) have gained attention in applications such as industrial inspection, search and rescue, mapping, and environment monitoring. However, the autonomous navigation capability of UAVs is aggravated in GPS-deprived areas such as indoors. As a result, vision-based control and guidance methods are sought. In this paper, a vision-based target-tracking problem is formulated in the form of a cascaded adaptive nonlinear Model Predictive Control (MPC) strategy. The proposed algorithm takes the kinematics/dynamics of the system, as well as physical and image constraints into consideration. An Extended Kalman Filter (EKF) is designed to estimate uncertain and/or time-varying parameters of the model. The control space is first divided into low and high levels, and then, they are parameterised via orthonormal basis network functions, which makes the optimisation- based control scheme computationally less expensive, therefore suitable for real-time implementation. A 2-DoF model helicopter, with a coupled nonlinear pitch/yaw dynamics, equipped with a front-looking monocular camera, was utilised for hypothesis testing and evaluation via experiments. Simulated and experimental results show that the proposed method allows the model helicopter to servo toward the target efficiently in real-time while taking kinematic and dynamic constraints into account. The simulation and experimental results are in good agreement and promising. Full article

A system that can fly off and touches down to execute particular tasks is a flying robot. Nowadays, these flying robots are capable of flying without human control and make decisions according to the situation with the help of onboard sensors and controllers. Among flying robots, Unmanned Aerial Vehicles (UAVs) are highly attractive and applicable for military and civilian purposes. These applications require motion planning of UAVs along with collision avoidance protocols to get better robustness and a faster convergence rate to meet the target. Further, the optimization algorithm improves the performance of the system and minimizes the convergence error. In this survey, diverse scholarly articles were gathered to highlight the motion planning for UAVs that use bio-inspired algorithms. This study will assist researchers in understanding the latest work done in the motion planning of UAVs through various optimization techniques. Moreover, this review presents the contributions and limitations of every article to show the effectiveness of the proposed work. Full article

In recent years, with the further development of agricultural aviation technology, the plant protection UAV has been widely used, especially in some agricultural environments with limited operating conditions due to its advantages of high efficiency, environmental protection and safety guarantee. A plant protection UAV generally flies at low altitude during operation. However, the low altitude operation environment, such as farmland and mountainous areas, is relatively complex, and is faced with many types of obstacles, proposing higher requirements for obstacle avoidance and the profiling system of a plant protection UAV. In order to test the obstacle avoidance and profiling performance of the commercialized plant protection UAV at this stage and explore the performance boundary of obstacle avoidance and profiling of the UAV, EAVISION E-A2021 and XAG P80, the flagship models of the plant protection UAV manufacturer on the market, were hereby selected as the experimental test objects in the paper. Firstly, the obstacle avoidance and profiling test scheme of plant protection UAVs is designed; then, the above two UAVs are adopted for corresponding tests, and the test data are discussed based on the analysis of software and hardware technology; finally, the practical application status of different obstacle avoidance and profiling technologies of plant protection UAVs is clarified, and the shortcomings of obstacle avoidance and profiling technology of plant protection UAVs on the market are summarized, providing a reliable reference for the future development of plant protection UAVs. Full article

The classification of targets by the use of radars has received great interest in recent years, in particular in defence and military applications, in which the development of sensor systems that are able to identify and classify threatening targets is a mandatory requirement. In the specific case of drones, several classification techniques have already been proposed and, up to now, the most effective technique was considered to be micro-Doppler analysis used in conjunction with machine learning tools. The micro-Doppler signatures of targets are usually represented in the form of the spectrogram, that is a time–frequency diagram that is obtained by performing a short-time Fourier transform (STFT) on the radar return signal. Moreover, frequently it is possible to extract useful information that can also be used in the classification task from the spectrogram of a target. The main aim of the paper is comparing different ways to exploit the drone’s micro-Doppler analysis on different stages of a multifunctional radar. Three different classification approaches are compared: classic spectrogram-based classification; spectrum-based classification in which the received signal from the target is picked up after the moving target detector (MTD); and features-based classification, in which the received signal from the target undergoes the detection step after the MTD, after which discriminating features are extracted and used as input to the classifier. To compare the three approaches, a theoretical model for the radar return signal of different types of drone and aerial target is developed, validated by comparison with real recorded data, and used to simulate the targets. Results show that the third approach (features-based) not only has better performance than the others but also is the one that requires less modification and less processing power in a modern multifunctional radar because it reuses most of the processing facility already present. Full article

Earth observation technologies offer non-intrusive solutions for monitoring complex and risky sites, such as landfills. In particular, unmanned aerial vehicles (UAVs) offer the ability to acquire data at very high spatial resolution, with full control of the temporality required for the desired application. The versatility of UAVs, both in terms of flight characteristics and on-board sensors, makes it possible to generate relevant geodata for a wide range of landfill monitoring activities. This study aims to propose a robust tool and to provide data acquisition guidelines for the land cover mapping of complex sites using UAV multispectral imagery. For this purpose, the transferability of a state-of-the-art object-based image analysis open-source processing chain was assessed and its sensitivity to the segmentation approach, textural and contextual information, spectral and spatial resolution was tested over the landfill site of Hallembaye (Wallonia, Belgium). This study proposes a consistent open-source processing chain for the land cover mapping using UAV data with accuracies of at least 85%. It shows that low-cost red-green-blue standard sensors are sufficient to reach such accuracies and that spatial resolution of up to 10 cm can be adopted with limited impact on the performance of the processing chain. This study also results in the creation of a new operational service for the monitoring of the active landfill sites of Wallonia. Full article

Inspired by the behaviour of animal populations in nature, we propose a novel exploration algorithm based on Lévy flight (LF) and artificial potential field (APF). The agent is extended to the swarm level using the APF method through the LF search environment. Virtual leaders generate moving steps to explore the environment through the LF mechanism. To achieve collision-free movement in an unknown constrained environment, a swarm-following mechanism is established, which requires the agents to follow the virtual leader to carry out the LF. The proposed method, combining the advantages of LF and APF which achieve the effect of flocking in an exploration environment, does not rely on complex sensors for environment labelling, memorising, or huge computing power. Agents simply perform elegant and efficient search behaviours as natural creatures adapt to the environment and change formations. The method is especially suitable for the camouflaged flocking exploration environment of bionic robots such as flapping drones. Simulation experiments and real-world experiments on E-puck2 robots were conducted to evaluate the effectiveness of the proposed LF-APF algorithm. Full article

As one of the key issues in aviation safety, loss-of-control in the form of adverse aircraft-pilot couplings is attracting attention increasingly. Dynamic-pitch-control envelope shows to be a promising means to evaluate the loss-of-control related to pilot-induced oscillations. To mitigate this issue, this paper develops a human pilot model with the dynamic-pitch-control envelope cue. A key feature of the model is the capability to afford the characteristics of the pilot’s behavior through analyzing the cue of envelope boundaries in different areas. The fuzziness and adaption of the human are introduced into the model to describe the behavior of the human pilot. Fuzzy control logic is designed to reflect the fuzziness of the human’s response to the envelope cue. Time-varying parameters are adjusted to embody the adaptive characteristics of the human pilot to different regional envelope cues. Furthermore, three metrics methods, including error metric, envelope boundaries metric, and scalogram-based pilot-induced oscillation (PIO) metric, are proposed to design the dynamic-pitch-control envelope cues. The assessment results obtained by pilot–aircraft system simulation are compared with the pilot-in-the-loop flight experiment in-ground simulator to validate the effectiveness of the model. Simulation and experimental results show that the proposed human pilot model and envelope cue method can be applied to mitigate the loss-of-control events caused by the pilot–aircraft system oscillations. Full article

Adaptive navigation is the core of micro aerial vehicles (MAVs) conducting autonomous flights in diverse environments. Different navigation techniques are adopted according to the availability of navigation signals in the environment. MAVs must navigate using scene recognition technology to ensure the continuity and reliability of the flight. Therefore, our work investigated the scene recognition method for MAV environment-adaptive navigation. First, we exploited the functional intelligence-adaptive navigation (FIAN) scheme by imitating the physiological decision-making process. Then, based on sufficient environment-sensitive measurements from the environment perception subsystem in FIAN, the two-level scene recognition method (TSRM) in the decision-making subsystem consisting of two deep learning frameworks, SceneNet and Mobile Net-V2 was proposed to extract scene features for accurate diverse scenes recognition. Furthermore, the four-rotor MAV-Smartphone combined (MSC) platform simulating the owl’s omni-directional head-turning behavior was built. The proposed TSRM was evaluated for accuracy, delay, and robustness compared with PSO-SVM and GIST-SVM. The results of practical flight tests through MSC platform show that TSRM has higher classification accuracy than PSO-SVM and GIST-SVM, and performs smoothly with self-regulatory adaptations under diverse environments. Full article

Multi-UAV cooperative systems are highly regarded in the field of cooperative multi-target localization and tracking due to their advantages of wide coverage and multi-dimensional perception. However, due to the similarity of target visual characteristics and the limitation of UAV sensor resolution, it is difficult for UAVs to correctly distinguish targets that are visually similar to their associations. Incorrect correlation matching between targets will result in incorrect localization and tracking of multiple targets by multiple UAVs. In order to solve the association problem of targets with similar visual characteristics and reduce the localization and tracking errors caused by target association errors, based on the relative positions of the targets, the paper proposes a globally consistent target association algorithm for multiple UAV vision sensors based on triangular topological sequences. In contrast to Siamese neural networks and trajectory correlation, the relative position relationship between targets is used to distinguish and correlate targets with similar visual features and trajectories. The sequence of neighboring triangles of targets is constructed using the relative position relationship, and the feature is a specific triangular network. Moreover, a method for calculating topological sequence similarity with similar transformation invariance is proposed, as well as a two-step optimal association method that considers global objective association consistency. The results of flight experiments indicate that the algorithm achieves an association accuracy of 84.63%, and that two-step association is 12.83% more accurate than single-step association. Through this work, the multi-target association problem with similar or even identical visual characteristics can be solved in the task of cooperative surveillance and tracking of suspicious vehicles on the ground by multiple UAVs. Full article

This paper presents a real-time and multi-sensor-based landing area recognition system for UAVs, which aims to enable UAVs to land safely on open and flat terrain and is suitable for comprehensive unmanned autonomous operation. The landing area recognition system for UAVs is built on the combination of a camera and a 3D LiDAR. The problem is how to fuse the image and point cloud information and realize the landing area recognition to guide the UAV landing autonomously and safely. To solve this problem, firstly, we use a deep learning method to realize the landing area recognition and tracking from images. After that, we project 3D LiDAR point cloud data into camera coordinates to obtain the semantic label of each point. Finally, we use the 3D LiDAR point cloud data with the semantic label to build the 3D environment map and calculate the most suitable area for UAV landing. Experiments show that the proposed method can achieve accurate and robust recognition of landing area for UAVs. Full article

UAV-based technologies are evolving and improving at a rapid pace. The abundance of solutions and systems available today can make it difficult to identify the best option for construction and civil projects. The purpose of this literature review is to examine the benefits and limitations of UAV-based sensing systems in the context of construction management and civil engineering, with a focus on camera-based and laser-based systems. The risk factors associated with UAV operations at construction sites are also considered. Full article

A micro needle trap sampler (NTS) was carried by a mini quadrotor drone (Mavic Pro, DJI) to collect volatile organic compounds (VOCs) from industries. The NTS was fabricated using a 7 cm long, 22-gauge stainless steel needle by packing powdered divinylbenzene (DVB) adsorbents (60–80 mesh diameters). The telescoping sampling shaft was installed on the drone to extend the NTS beyond the downward air turbulence that was caused by the rotation of its propellers. The total mass of the sampling device, including an NTS, a telescoping shaft, a mini-air pump, and an ABS (acrylonitrile butadiene styrene) rack, was not more than 200 g. The emitted VOCs, those from a steel processing plant, including aromatic hydrocarbons (toluene of 15 ppb, ethylbenzene of 9 ppb and p-xylene 12 ppb), and those from a semiconductor processing factory, including trace amounts of methanol (1.96–2.00 ppm), acetone (0.05–0.10 ppm), and toluene (1.04–2.00 ppm), were extracted by the NTS on the drone and identified using a gas chromatography-mass spectroscopy (GC-MS) system in the laboratory. According to the results of VOC detection during the sampling flight of a drone, the stationary pollution sources were successfully identified. Full article

In the past few decades, the management of urban spaces with appropriate tools has been in constant discussion due to the plethora of new technologies that have emerged for participatory planning, drone mapping, photogrammetry and 3D modeling. In a multitude of situations, considerable progress has been made regarding the strategic impact of the successful use of technology for the development of urban spaces. The current era provides us with important digital tools and the opportunity to test new perspectives in the sustainable development of cities. This paper aims to explore the contribution of UAVs to the spatial mapping process of urban space, with the goal of collecting quantifiable and qualitative information to use for 3D modeling that can enable a more comprehensive understanding of the urban environment, thus facilitating urban regeneration processes. Three-dimensional models of high accuracy are not mandatory for this research. The location of the selected research area is particularly interesting due to its boundaries, urban voids and public space that can evolve through public participation. The results can be used for crowdsourcing in participatory decision-making processes and for exploring the consequences that these have on the built environment, and they can be used as a new means of involvement of citizens in local decision-making processes. Full article

Unmanned aerial vehicles (UAVs) have been widely used for target detection in modern battlefields. From the viewpoint of the opponents, false target jamming is an effective approach to decrease the UAV detection ability or probability, but currently there are few research efforts devoted to this adversarial problem. This paper formulates an optimization problem of false target jamming based on a counterpart problem of UAV detection, where each false target jamming solution is evaluated according to its adversarial effects on a set of possible UAV detection solutions. To efficiently solve the problem, we propose an evolutionary framework, which is implemented with four popular evolutionary algorithms by designing/adapting their evolutionary operators for false target jamming solutions. Experimental results on 12 test instances with different search regions and numbers of UAVs and false targets demonstrate that the proposed approach can significantly reduce the UAV detection probability, and the water wave optimization (WWO) metaheuristic exhibits the best overall performance among the four evolutionary algorithms. To our knowledge, this is the first study on the optimization of false target jamming against UAV detection, and the proposed framework can be extended to more countermeasures against UAV operations. Full article

This research aims to develop a visual tracking system for a UAV which guides a drone to track a mobile robot and accurately land on it when it stops moving. Two LEDs with different colors were installed on the bottom of the drone. The visual tracking system on the mobile robot can detect the heading angle and the distance between the drone and mobile robot. The heading angle and flight velocity in the pitch and roll direction of the drone were modified by PID control, so that the flying speed and angle are more accurate, and the drone can land quickly. The PID tuning parameters were also adjusted according to the height of the drone. The embedded system on the mobile robot, which is equipped with Linux Ubuntu and processes images with OpenCV, can send the control command (SDK 2.0) to the Tello EDU drone through WIFI with UDP Protocol. The drone can auto-track the mobile robot. After the mobile robot stops, the drone can land on the top of the mobile robot. From the experimental results, the drone can take off from the top of the mobile robot, visually track the mobile robot, and finally land on the top of the mobile robot accurately. Full article

Remote sensing can provide useful imagery data to monitor sugarcane in the field, whether for precision management or high-throughput phenotyping (HTP). However, research and technological development into aerial remote sensing for distinguishing cultivars is still at an early stage of development, driving the need for further in-depth investigation. The primary objective of this study was therefore to analyze whether it could be possible to discriminate market-grade cultivars of sugarcane upon imagery data from an unmanned aerial vehicle (UAV). A secondary objective was to analyze whether the time of day could impact the expressiveness of spectral bands and vegetation indices (VIs) in the biophysical modeling. The remote sensing platform acquired high-resolution imagery data, making it possible for discriminating cultivars upon spectral bands and VIs without computational unfeasibility. 12:00 PM especially proved to be the most reliable time of day to perform the flight on the field and model the cultivars upon spectral bands. In contrast, the discrimination upon VIs was not specific to the time of flight. Therefore, this study can provide further information about the division of cultivars of sugarcane merely as a result of processing UAV imagery data. Insights will drive the knowledge necessary to effectively advance the field’s prominence in developing low-altitude, remotely sensing sugarcane. Full article

Drones have become increasingly popular tools to study marine megafauna but are underutilized in batoid research. We used drones to collect video data of manta ray (Mobula cf. birostris) swimming and assessed behavior-specific kinematics in Kinovea, a semi-automated point-tracking software. We describe a ‘resting’ behavior of mantas making use of strong currents in man-made inlets in addition to known ‘traveling’ and ‘feeding’ behaviors. No significant differences were found between the swimming speed of traveling and feeding behaviors, although feeding mantas had a significantly higher wingbeat frequency than traveling mantas. Resting mantas swam at a significantly slower speed and wingbeat frequency, suggesting that they were continuously swimming with the minimum effort required to maintain position and buoyancy. Swimming speed and wingbeat frequency of traveling and feeding behaviors overlapped, which could point to other factors such as prey availability and a transitional behavior, influencing how manta rays swim. These baseline swimming kinematic data have valuable applications to other emerging technologies in manta ray research. Full article

Current studies rarely mention radar detection of hybrid vertical take-off and landing (VTOL) fixed-wing drones. We investigated radar signals of an industry-tier VTOL fixed-wing drone, TX25A, compared with the radar detection results of a quad-rotor drone, DJI Phantom 4. We used an X-band pulse-Doppler phased array radar to collect tracking radar data of the two drones in a coastal area near the Yellow Sea in China. The measurements indicate that TX25A had double the values of radar cross-section (RCS) and flying speed and a 2 dB larger signal-to-clutter ratio (SCR) than DJI Phantom 4. The radar signals of both drones had micro-Doppler signals or jet engine modulation (JEM) produced by the lifting rotor blades, but the Doppler modulated by the puller rotor blades of TX25A was undetectable. JEM provides radar signatures such as the rotating rate, modulated by the JEM frequency spacing interval and the number of blades for radar automatic target recognition (ATR), but also interferes with the radar tracking algorithm by suppressing the body Doppler. This work provides an a priori investigation of new VTOL fixed-wing drones and may inspire future research. Full article

Rural areas are often difficult to access reliably with medicine and vaccines. This study aimed to examine rural health care workers’ attitude towards drone delivery for medicine and vaccines and the factors that influenced it. Health care workers from four rural health care facilities were sampled. Participants self-reported their demographic information, attitude towards medicine and vaccine delivery using drones, perception of benefits and risks of using drones, and perceived leadership innovativeness through an online or a pen-and-paper questionnaire. A total of 272 health care workers (mean age = 36.19, SD = 8.10) from all of the sites participated in this study. More than half of the study participants agreed or strongly agreed that using a drone to deliver medicine and vaccines is a good idea (54.2%, 95% CI [47.5, 60.8]), a wise idea (54.6%, 95% CI [47.9, 61.2]), and is desirable (52.5%, 95% CI [45.7, 59.0]). Males (β = 0.223), workers from the Obstetrics and Gynaecology department (β = 0.135), a lower perceived delivery risk (β = −0.237), and higher leadership innovativeness (β = 0.336) predicted positive attitudes towards drone usage. Assistant medical officers (β = −0.172) had a negative attitude. There is a need to further understand the roles of occupation and leadership innovativeness in predicting health care workers’ attitude towards drone usage, as these differences could be embedded within their roles in the health care system. Full article

Recent advances in unmanned aerial vehicles (UAVs) have increased altitude capability in road-traffic monitoring. However, state-of-the-art vehicle detection methods still lack accurate abilities and lightweight structures in the UAV platform due to the background uncertainties, scales, densities, shapes, and directions of objects resulting from the UAV imagery’s shooting angle. We propose a lightweight solution to detect arbitrary-oriented vehicles under uncertain backgrounds, varied resolutions, and illumination conditions. We first present a cross-stage partial bottleneck transformer (CSP BoT) module to exploit the global spatial relationship captured by multi-head self-attention, validating its implication in recessive dependencies. We then propose an angle classification prediction branch in the YOLO head network to detect arbitrarily oriented vehicles in UAV images and employ a circular smooth label (CSL) to reduce the classification loss. We further improve the multi-scale feature maps by combining the prediction head network with the adaptive spatial feature fusion block (ASFF-Head), which adapts the spatial variation of prediction uncertainties. Our method features a compact, lightweight design that automatically recognizes key geometric factors in the UAV images. It demonstrates superior performance under environmental changes while it is also easy to train and highly generalizable. This remarkable learning ability makes the proposed method applicable to geometric structure and uncertainty estimates. Extensive experiments on the UAV vehicle dataset UAV-ROD and remote sensing dataset UACS-AOD demonstrate the superiority and cost-effectiveness of the proposed method, making it practical for urban traffic and public security. Full article

Single camera-based navigation systems need information from other sensors or from the work environment to produce reliable and accurate position measurements. Providing such trustable, accurate, and available information in the environment is very important. The work highlights that the availability of well-described streets in urban environments can be exploited by drones for navigation and path tracking purposes, thus benefitting from such structures is not limited to only automated driving cars. While the drone position is continuously computed using visual odometry, scene matching is used to correct the position drift depending on some landmarks. The drone path is defined by several waypoints, and landmarks centralized by those waypoints are carefully chosen in the street intersections. The known streets’ geometry and dimensions are used to estimate the image scale and orientation which are necessary for images alignment, to compensate for the visual odometry drift, and to pass closer to the landmark center by the visual servoing process. Probabilistic Hough transform is used to detect and extract the street borders. The system is realized in a simulation environment consisting of the Robot Operating System ROS, 3D dynamic simulator Gazebo, and IRIS drone model. The results prove the suggested system efficiency with a 1.4 m position RMS error. Full article

This paper presents a methodology that can be used to avoid collisions of aerial drones. Even though there are many collision avoidance methods available in literature, collision cone is a proven method that can be used to predict a collision beforehand. In this research, we propose an algorithm to avoid a collision in a time-efficient manner for collision cone based aerial collision avoidance approaches. Furthermore, the paper has considered all possible scenarios including heading change, speed change and combined heading and speed change, to avoid a collision. The heading-based method was mathematically proven to be the most time-efficient method out of the three. The proposed heading-based method was compared with other work presented in the literature and validated with both simulations and experiments. A Matrice 600 Pro hexacopter is used for the collision avoidance experiments. Full article

Recently, multirotor UAVs have been widely used in high-precision terrain mapping, cadastral surveys and other fields due to their low cost, flexibility, and high efficiency. Indirect georeferencing of ground control points (GCPs) is often required to obtain highly accurate topographic products such as orthoimages and digital surface models. However, in practical projects, GCPs are susceptible to anomalies caused by external factors (GCPs covered by foreign objects such as crops and cars, vandalism, etc.), resulting in a reduced availability of UAV images. The errors associated with the loss of GCPs are apparent. The widely used solution of using natural feature points as ground control points often fails to meet the high accuracy requirements. For the problem of control point anomalies, this paper innovatively presents two new methods of completing data fusion by supplementing photos via UAV at a later stage. In this study, 72 sets of experiments were set up, including three control experiments for analysis. Two parameters were used for accuracy assessment: Root Mean Square Error (RMSE) and Multiscale Model to Model Cloud Comparison (M3C2). The study shows that the two new methods can meet the reference accuracy requirements in horizontal direction and elevation direction (RMSE_X = 70.40 mm, RMSE_Y = 53.90 mm, RMSE_Z = 87.70 mm). In contrast, the natural feature points as ground control points showed poor accuracy, with RMSE_X = 94.80 mm, RMSE_Y = 68.80 mm, and RMSE_Z = 104.40 mm for the checkpoints. This research considers and solves the problems of anomalous GCPs in the photogrammetry project from a unique perspective of supplementary photography, and proposes two new methods that greatly expand the means of solving the problem. In UAV high-precision projects, they can be used as an effective means to ensure accuracy when the GCP is anomalous, which has significant potential for application promotion. Compared with previous methods, they can be applied in more scenarios and have higher compatibility and operability. These two methods can be widely applied in cadastral surveys, geomorphological surveys, heritage conservation, and other fields. Full article