Bo Wang, Xuan Wang, Linglong Ma, Yujia Zuo, Chenglong Liu
Siamese-based trackers have been widely utilized in UAV visual tracking due to their outstanding performance. However, UAV visual tracking encounters numerous challenges, such as similar targets, scale variations, and background clutter. Existing Siamese trackers face two significant issues: firstly, they rely on single-branch features, limiting their ability to achieve long-term and accurate aerial tracking. Secondly, current tracking algorithms treat multi-level similarity responses equally, making it difficult to ensure tracking accuracy in complex airborne environments. To tackle these challenges, we propose a novel UAV tracking Siamese network named the contextual enhancement–interaction and multi-scale weighted fusion network, which is designed to improve aerial tracking performance. Firstly, we designed a contextual enhancement–interaction module to improve feature representation. This module effectively facilitates the interaction between the template and search branches and strengthens the features of each branch in parallel. Specifically, a cross-attention mechanism within the module integrates the branch information effectively. The parallel Transformer-based enhancement structure improves the feature saliency significantly. Additionally, we designed an efficient multi-scale weighted fusion module that adaptively weights the correlation response maps across different feature scales. This module fully utilizes the global similarity response between the template and the search area, enhancing feature distinctiveness and improving tracking results. We conducted experiments using several state-of-the-art trackers on aerial tracking benchmarks, including DTB70, UAV123, UAV20L, and UAV123@10fps, to validate the efficacy of the proposed network. The experimental results demonstrate that our tracker performs effectively in complex aerial tracking scenarios and competes well with state-of-the-art trackers.
{"title":"Contextual Enhancement–Interaction and Multi-Scale Weighted Fusion Network for Aerial Tracking","authors":"Bo Wang, Xuan Wang, Linglong Ma, Yujia Zuo, Chenglong Liu","doi":"10.3390/drones8080343","DOIUrl":"https://doi.org/10.3390/drones8080343","url":null,"abstract":"Siamese-based trackers have been widely utilized in UAV visual tracking due to their outstanding performance. However, UAV visual tracking encounters numerous challenges, such as similar targets, scale variations, and background clutter. Existing Siamese trackers face two significant issues: firstly, they rely on single-branch features, limiting their ability to achieve long-term and accurate aerial tracking. Secondly, current tracking algorithms treat multi-level similarity responses equally, making it difficult to ensure tracking accuracy in complex airborne environments. To tackle these challenges, we propose a novel UAV tracking Siamese network named the contextual enhancement–interaction and multi-scale weighted fusion network, which is designed to improve aerial tracking performance. Firstly, we designed a contextual enhancement–interaction module to improve feature representation. This module effectively facilitates the interaction between the template and search branches and strengthens the features of each branch in parallel. Specifically, a cross-attention mechanism within the module integrates the branch information effectively. The parallel Transformer-based enhancement structure improves the feature saliency significantly. Additionally, we designed an efficient multi-scale weighted fusion module that adaptively weights the correlation response maps across different feature scales. This module fully utilizes the global similarity response between the template and the search area, enhancing feature distinctiveness and improving tracking results. We conducted experiments using several state-of-the-art trackers on aerial tracking benchmarks, including DTB70, UAV123, UAV20L, and UAV123@10fps, to validate the efficacy of the proposed network. The experimental results demonstrate that our tracker performs effectively in complex aerial tracking scenarios and competes well with state-of-the-art trackers.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141807731","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper addresses task allocation to multi-UAV systems in time- and communication-constrained environments by presenting an extension to the novel heuristic performance impact (PI) algorithm. The presented algorithm, termed local reassignment performance impact (LR-PI), consists of an improved task inclusion phase, a novel communication and conflict resolution phase, and a systematic method of reassignment for unallocated tasks. Considering the cooperation in accomplishing tasks that may require multiple UAVs or an individual UAV, the task inclusion phase can build the ordered task list on each UAV with a greedy approach, and the significance value of tasks can be further decreased and conflict-free assignments can be reached eventually. Furthermore, the local reassignment for unallocated tasks focuses on maximizing the number of allocated tasks without conflicts. In particular, the non-ideal communication factors, such as bit error, time delay, and package loss, are integrated with task allocation in the conflict resolution phase, which inevitably exist and can degrade task allocation performance in realistic communication environments. Finally, we show the performance of the proposed algorithm under different communication parameters and verify the superiority in comparison with the PI-MaxAsses and the baseline PI algorithm.
本文通过对新型启发式性能影响（PI）算法进行扩展，解决了在时间和通信受限环境下多无人机系统的任务分配问题。本文提出的算法被称为本地重新分配性能影响（LR-PI），由改进的任务包含阶段、新颖的通信和冲突解决阶段以及未分配任务的系统重新分配方法组成。考虑到合作完成任务可能需要多架无人机或单架无人机，任务包含阶段可以采用贪婪方法在每架无人机上建立有序的任务列表，并进一步降低任务的重要性值，最终实现无冲突分配。此外，未分配任务的本地重新分配侧重于最大化无冲突分配任务的数量。特别是，在冲突解决阶段，非理想通信因素，如比特误差、时间延迟和包丢失，与任务分配结合在一起，这些因素不可避免地存在，并会降低现实通信环境中的任务分配性能。最后，我们展示了所提算法在不同通信参数下的性能，并验证了其与 PI-MaxAsses 和基准 PI 算法相比的优越性。
{"title":"A Distributed Task Allocation Method for Multi-UAV Systems in Communication-Constrained Environments","authors":"Shaokun Yan, Jingxiang Feng, Feng Pan","doi":"10.3390/drones8080342","DOIUrl":"https://doi.org/10.3390/drones8080342","url":null,"abstract":"This paper addresses task allocation to multi-UAV systems in time- and communication-constrained environments by presenting an extension to the novel heuristic performance impact (PI) algorithm. The presented algorithm, termed local reassignment performance impact (LR-PI), consists of an improved task inclusion phase, a novel communication and conflict resolution phase, and a systematic method of reassignment for unallocated tasks. Considering the cooperation in accomplishing tasks that may require multiple UAVs or an individual UAV, the task inclusion phase can build the ordered task list on each UAV with a greedy approach, and the significance value of tasks can be further decreased and conflict-free assignments can be reached eventually. Furthermore, the local reassignment for unallocated tasks focuses on maximizing the number of allocated tasks without conflicts. In particular, the non-ideal communication factors, such as bit error, time delay, and package loss, are integrated with task allocation in the conflict resolution phase, which inevitably exist and can degrade task allocation performance in realistic communication environments. Finally, we show the performance of the proposed algorithm under different communication parameters and verify the superiority in comparison with the PI-MaxAsses and the baseline PI algorithm.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141812808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
He Huang, Dongqiang Li, Ming-bo Niu, Feiyu Xie, M. Miah, Tao Gao, Huifeng Wang
With the rapid development of the Internet of Things, the Internet of Vehicles (IoV) has quickly drawn considerable attention from the public. The cooperative unmanned aerial vehicles (UAVs)-assisted vehicular networks, as a part of IoV, has become an emerging research spot. Due to the significant limitations of the application and service of a single UAV-assisted vehicular networks, efforts have been put into studying the use of multiple UAVs to assist effective vehicular networks. However, simply increasing the number of UAVs can lead to difficulties in information exchange and collisions caused by external interference, thereby affecting the security of the entire cooperation and networking. To address the above problems, multiple UAV cooperative formation is increasingly receiving attention. UAV cooperative formation can not only save energy loss but also achieve synchronous cooperative motion through information communication between UAVs, prevent collisions and other problems between UAVs, and improve task execution efficiency. A multi-UAVs cooperation method based on arithmetic optimization is proposed in this work. Firstly, a complete mechanical model of unmanned maneuvering was obtained by combining acceleration limitations. Secondly, based on the arithmetic sine and cosine optimization algorithm, the mathematical optimizer was used to accelerate the function transfer. Sine and cosine strategies were introduced to achieve a global search and enhance local optimization capabilities. Finally, in obtaining the precise position and direction of multi-UAVs to assist networking, the cooperation method was formed by designing the reference controller through the consistency algorithm. Experimental studies were carried out for the multi-UAVs’ cooperation with the particle model, combined with the quadratic programming problem-solving technique. The results show that the proposed quadrotor dynamic model provides basic data for cooperation position adjusting, and our simplification in the model can reduce the amount of calculations for the feedback and the parameter changes during the cooperation. Moreover, combined with a reference controller, the UAVs achieve the predetermined cooperation by offering improved navigation speed, task execution efficiency, and cooperation accuracy. Our proposed multi-UAVs cooperation method can improve the quality of service significantly on the UAV-assisted vehicular networks.
{"title":"Multiple UAVs Networking Oriented Consistent Cooperation Method Based on Adaptive Arithmetic Sine Cosine Optimization","authors":"He Huang, Dongqiang Li, Ming-bo Niu, Feiyu Xie, M. Miah, Tao Gao, Huifeng Wang","doi":"10.3390/drones8070340","DOIUrl":"https://doi.org/10.3390/drones8070340","url":null,"abstract":"With the rapid development of the Internet of Things, the Internet of Vehicles (IoV) has quickly drawn considerable attention from the public. The cooperative unmanned aerial vehicles (UAVs)-assisted vehicular networks, as a part of IoV, has become an emerging research spot. Due to the significant limitations of the application and service of a single UAV-assisted vehicular networks, efforts have been put into studying the use of multiple UAVs to assist effective vehicular networks. However, simply increasing the number of UAVs can lead to difficulties in information exchange and collisions caused by external interference, thereby affecting the security of the entire cooperation and networking. To address the above problems, multiple UAV cooperative formation is increasingly receiving attention. UAV cooperative formation can not only save energy loss but also achieve synchronous cooperative motion through information communication between UAVs, prevent collisions and other problems between UAVs, and improve task execution efficiency. A multi-UAVs cooperation method based on arithmetic optimization is proposed in this work. Firstly, a complete mechanical model of unmanned maneuvering was obtained by combining acceleration limitations. Secondly, based on the arithmetic sine and cosine optimization algorithm, the mathematical optimizer was used to accelerate the function transfer. Sine and cosine strategies were introduced to achieve a global search and enhance local optimization capabilities. Finally, in obtaining the precise position and direction of multi-UAVs to assist networking, the cooperation method was formed by designing the reference controller through the consistency algorithm. Experimental studies were carried out for the multi-UAVs’ cooperation with the particle model, combined with the quadratic programming problem-solving technique. The results show that the proposed quadrotor dynamic model provides basic data for cooperation position adjusting, and our simplification in the model can reduce the amount of calculations for the feedback and the parameter changes during the cooperation. Moreover, combined with a reference controller, the UAVs achieve the predetermined cooperation by offering improved navigation speed, task execution efficiency, and cooperation accuracy. Our proposed multi-UAVs cooperation method can improve the quality of service significantly on the UAV-assisted vehicular networks.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141816895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Gabriel de Sousa Meira, João Victor Ferreira Guedes, Edilson de Souza Bias
The use of geotechnologies in the field of diagnostic engineering has become ever more present in the identification of pathological manifestations in buildings. The implementation of Unmanned Aerial Vehicles (UAVs) and embedded sensors has stimulated the search for new data processing and validation methods, considering the magnitude of the data collected during fieldwork and the absence of specific methodologies for each type of sensor. Regarding data processing, the use of deep learning techniques has become widespread, especially for the automation of processes that involve a great amount of data. However, just as with the increasing use of embedded sensors, deep learning necessitates the development of studies, particularly those focusing on neural networks that better represent the data to be analyzed. It also requires the enhancement of practices to be used in fieldwork, especially regarding data processing. In this context, the objective of this study is to review the existing literature on the use of embedded technologies in UAVs and deep learning for the identification and characterization of pathological manifestations present in building façades in order to develop a robust knowledge base that is capable of contributing to new investigations in this field of research.
{"title":"UAV-Embedded Sensors and Deep Learning for Pathology Identification in Building Façades: A Review","authors":"Gabriel de Sousa Meira, João Victor Ferreira Guedes, Edilson de Souza Bias","doi":"10.3390/drones8070341","DOIUrl":"https://doi.org/10.3390/drones8070341","url":null,"abstract":"The use of geotechnologies in the field of diagnostic engineering has become ever more present in the identification of pathological manifestations in buildings. The implementation of Unmanned Aerial Vehicles (UAVs) and embedded sensors has stimulated the search for new data processing and validation methods, considering the magnitude of the data collected during fieldwork and the absence of specific methodologies for each type of sensor. Regarding data processing, the use of deep learning techniques has become widespread, especially for the automation of processes that involve a great amount of data. However, just as with the increasing use of embedded sensors, deep learning necessitates the development of studies, particularly those focusing on neural networks that better represent the data to be analyzed. It also requires the enhancement of practices to be used in fieldwork, especially regarding data processing. In this context, the objective of this study is to review the existing literature on the use of embedded technologies in UAVs and deep learning for the identification and characterization of pathological manifestations present in building façades in order to develop a robust knowledge base that is capable of contributing to new investigations in this field of research.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141817167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In environments where satellite signals are blocked, initializing UAV swarms quickly is a technical challenge, especially indoors or in areas with weak satellite signals, making it difficult to establish the relative position of the swarm. Two common methods for initialization are using the camera for joint SLAM initialization, which increases communication burden due to image feature point analysis, and obtaining a rough positional relationship using prior information through a device such as a magnetic compass, which lacks accuracy. In recent years, visual–inertial odometry (VIO) technology has significantly progressed, providing new solutions. With improved computing power and enhanced VIO accuracy, it is now possible to establish the relative position relationship through the movement of drones. This paper proposes a two-stage robust initialization method for swarms of more than four UAVs, suitable for larger-scale satellite denial scenarios. Firstly, the paper analyzes the Cramér–Rao lower bound (CRLB) problem and the moving configuration problem of the cluster to determine the optimal anchor node for the algorithm. Subsequently, a strategy is used to screen anchor nodes that are close to the lower bound of CRLB, and an optimization problem is constructed to solve the position relationship between anchor nodes through the relative motion and ranging relationship between UAVs. This optimization problem includes quadratic constraints as well as linear constraints and is a quadratically constrained quadratic programming problem (QCQP) with high robustness and high precision. After addressing the anchor node problem, this paper simplifies and improves a fast swarm cooperative positioning algorithm, which is faster than the traditional multidimensional scaling (MDS) algorithm. The results of theoretical simulations and actual UAV tests demonstrate that the proposed algorithm is advanced, superior, and effectively solves the UAV swarm initialization problem under the condition of a satellite signal rejection.
在卫星信号受阻的环境中，无人机群的快速初始化是一项技术挑战，尤其是在室内或卫星信号较弱的区域，很难确定无人机群的相对位置。两种常见的初始化方法是使用相机进行联合 SLAM 初始化，这种方法会因图像特征点分析而增加通信负担；以及通过磁罗盘等设备利用先验信息获取粗略的位置关系，这种方法缺乏准确性。近年来，视觉惯性里程测量（VIO）技术取得了长足进步，提供了新的解决方案。随着计算能力的提高和 VIO 精度的增强，现在可以通过无人机的移动来建立相对位置关系。本文提出了一种针对四架以上无人机群的两阶段鲁棒初始化方法，适用于更大规模的卫星拒止场景。首先，本文分析了 Cramér-Rao 下限（CRLB）问题和集群的移动配置问题，以确定算法的最佳锚节点。随后，采用一种策略筛选出接近 CRLB 下限的锚节点，并构建了一个优化问题，通过无人机之间的相对运动和测距关系来解决锚节点之间的位置关系。该优化问题包括二次约束和线性约束，是一个具有高鲁棒性和高精度的二次约束二次编程问题（QCQP）。在解决了锚节点问题后，本文简化并改进了一种快速蜂群协同定位算法，该算法比传统的多维缩放（MDS）算法更快。理论仿真和无人机实际测试结果表明，本文提出的算法先进、优越，能有效解决卫星信号剔除条件下的无人机群初始化问题。
{"title":"Rapid Initialization Method of Unmanned Aerial Vehicle Swarm Based on VIO-UWB in Satellite Denial Environment","authors":"Runmin Wang, Zhongliang Deng","doi":"10.3390/drones8070339","DOIUrl":"https://doi.org/10.3390/drones8070339","url":null,"abstract":"In environments where satellite signals are blocked, initializing UAV swarms quickly is a technical challenge, especially indoors or in areas with weak satellite signals, making it difficult to establish the relative position of the swarm. Two common methods for initialization are using the camera for joint SLAM initialization, which increases communication burden due to image feature point analysis, and obtaining a rough positional relationship using prior information through a device such as a magnetic compass, which lacks accuracy. In recent years, visual–inertial odometry (VIO) technology has significantly progressed, providing new solutions. With improved computing power and enhanced VIO accuracy, it is now possible to establish the relative position relationship through the movement of drones. This paper proposes a two-stage robust initialization method for swarms of more than four UAVs, suitable for larger-scale satellite denial scenarios. Firstly, the paper analyzes the Cramér–Rao lower bound (CRLB) problem and the moving configuration problem of the cluster to determine the optimal anchor node for the algorithm. Subsequently, a strategy is used to screen anchor nodes that are close to the lower bound of CRLB, and an optimization problem is constructed to solve the position relationship between anchor nodes through the relative motion and ranging relationship between UAVs. This optimization problem includes quadratic constraints as well as linear constraints and is a quadratically constrained quadratic programming problem (QCQP) with high robustness and high precision. After addressing the anchor node problem, this paper simplifies and improves a fast swarm cooperative positioning algorithm, which is faster than the traditional multidimensional scaling (MDS) algorithm. The results of theoretical simulations and actual UAV tests demonstrate that the proposed algorithm is advanced, superior, and effectively solves the UAV swarm initialization problem under the condition of a satellite signal rejection.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141815196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the rapidly developing drone industry, drone use has led to a series of safety hazards in both civil and military settings, making drone detection an increasingly important research field. It is difficult to overcome this challenge with traditional object detection solutions. Based on YOLOv8, we present a lightweight, real-time, and accurate anti-drone detection model (EDGS-YOLOv8). This is performed by improving the model structure, introducing ghost convolution in the neck to reduce the model size, adding efficient multi-scale attention (EMA), and improving the detection head using DCNv2 (deformable convolutional net v2). The proposed method is evaluated using two UAV image datasets, DUT Anti-UAV and Det-Fly, with a comparison to the YOLOv8 baseline model. The results demonstrate that on the DUT Anti-UAV dataset, EDGS-YOLOv8 achieves an AP value of 0.971, which is 3.1% higher than YOLOv8n’s mAP, while maintaining a model size of only 4.23 MB. The research findings and methods outlined here are crucial for improving target detection accuracy and developing lightweight UAV models.
{"title":"EDGS-YOLOv8: An Improved YOLOv8 Lightweight UAV Detection Model","authors":"Min Huang, Wenkai Mi, Yuming Wang","doi":"10.3390/drones8070337","DOIUrl":"https://doi.org/10.3390/drones8070337","url":null,"abstract":"In the rapidly developing drone industry, drone use has led to a series of safety hazards in both civil and military settings, making drone detection an increasingly important research field. It is difficult to overcome this challenge with traditional object detection solutions. Based on YOLOv8, we present a lightweight, real-time, and accurate anti-drone detection model (EDGS-YOLOv8). This is performed by improving the model structure, introducing ghost convolution in the neck to reduce the model size, adding efficient multi-scale attention (EMA), and improving the detection head using DCNv2 (deformable convolutional net v2). The proposed method is evaluated using two UAV image datasets, DUT Anti-UAV and Det-Fly, with a comparison to the YOLOv8 baseline model. The results demonstrate that on the DUT Anti-UAV dataset, EDGS-YOLOv8 achieves an AP value of 0.971, which is 3.1% higher than YOLOv8n’s mAP, while maintaining a model size of only 4.23 MB. The research findings and methods outlined here are crucial for improving target detection accuracy and developing lightweight UAV models.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141820055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Runze He, Di Wu, Tao Hu, Zhifu Tian, Siwei Yang, Ziliang Xu
Unmanned aerial vehicle (UAV) swarm confrontation jamming offers a cost-effective and long-range countermeasure against hostile swarms. Intelligent decision-making is a key factor in ensuring its effectiveness. In response to the low-timeliness problem caused by linear programming in current algorithms, this paper proposes an intelligent decision-making algorithm for UAV swarm confrontation jamming based on the multi-agent actor–critic (M2AC) model. First, based on Markov games, an intelligent mathematical decision-making model is constructed to transform the confrontation jamming scenario into a symbolized mathematical problem. Second, the indicator function under this learning paradigm is designed by combining the actor–critic algorithm with Markov games. Finally, by employing a reinforcement learning algorithm with multithreaded parallel training–contrastive execution for solving the model, a Markov perfect equilibrium solution is obtained. The experimental results indicate that the algorithm based on M2AC can achieve faster training and decision-making speeds, while effectively obtaining a Markov perfect equilibrium solution. The training time is reduced to less than 50% compared to the baseline algorithm, with decision times maintained below 0.05 s across all simulation conditions. This helps alleviate the low-timeliness problem of UAV swarm confrontation jamming intelligent decision-making algorithms under highly dynamic real-time conditions, leading to more effective and efficient UAV swarm operations in various jamming and electronic warfare scenarios.
{"title":"Intelligent Decision-Making Algorithm for UAV Swarm Confrontation Jamming: An M2AC-Based Approach","authors":"Runze He, Di Wu, Tao Hu, Zhifu Tian, Siwei Yang, Ziliang Xu","doi":"10.3390/drones8070338","DOIUrl":"https://doi.org/10.3390/drones8070338","url":null,"abstract":"Unmanned aerial vehicle (UAV) swarm confrontation jamming offers a cost-effective and long-range countermeasure against hostile swarms. Intelligent decision-making is a key factor in ensuring its effectiveness. In response to the low-timeliness problem caused by linear programming in current algorithms, this paper proposes an intelligent decision-making algorithm for UAV swarm confrontation jamming based on the multi-agent actor–critic (M2AC) model. First, based on Markov games, an intelligent mathematical decision-making model is constructed to transform the confrontation jamming scenario into a symbolized mathematical problem. Second, the indicator function under this learning paradigm is designed by combining the actor–critic algorithm with Markov games. Finally, by employing a reinforcement learning algorithm with multithreaded parallel training–contrastive execution for solving the model, a Markov perfect equilibrium solution is obtained. The experimental results indicate that the algorithm based on M2AC can achieve faster training and decision-making speeds, while effectively obtaining a Markov perfect equilibrium solution. The training time is reduced to less than 50% compared to the baseline algorithm, with decision times maintained below 0.05 s across all simulation conditions. This helps alleviate the low-timeliness problem of UAV swarm confrontation jamming intelligent decision-making algorithms under highly dynamic real-time conditions, leading to more effective and efficient UAV swarm operations in various jamming and electronic warfare scenarios.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141819681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Shujat Ali, Asma’ Abu-Samah, Nor Fadzilah Abdullah, N. L. Mohd Kamal
Deploying 5G networks in mountainous rural regions can be challenging due to its unique and challenging characteristics. Attaching a transmitter to a UAV to enable connectivity requires a selection of suitable propagation models in such conditions. This research paper comprehensively investigates the signal propagation and performance under multiple frequencies, from mid-band to mmWaves range (3.5, 6, 28, and 60 GHz). The study focuses on rural mountainous regions, which were empirically simulated based on the Skardu, Pakistan, region. A complex 3D ray tracing method carefully figures out the propagation paths using the geometry of a 3D environment and looks at the effects in line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. The analysis considers critical parameters such as path loss, received power, weather loss, foliage loss, and the impact of varying UAV heights. Based on the analysis and regression modeling techniques, quadratic polynomials were found to accurately model the signal behavior, enabling signal strength predictions as a function of distances between the user and an elevated drone. Results were analyzed and compared with suburban areas with no mountains but more compact buildings surrounding the Universiti Kebangsaan Malaysia (UKM) campus. The findings highlight the need to identify the optimal height for the UAV as a base station, characterize radio channels accurately, and predict coverage to optimize network design and deployment with UAVs as additional sources. The research offers valuable insights for optimizing signal transmission and network planning and resolving spectrum-management difficulties in mountainous areas to enhance wireless communication system performance. The study emphasizes the significance of visualizations, statistical analysis, and outlier detection for understanding signal behavior in diverse environments.
{"title":"Propagation Modeling of Unmanned Aerial Vehicle (UAV) 5G Wireless Networks in Rural Mountainous Regions Using Ray Tracing","authors":"Shujat Ali, Asma’ Abu-Samah, Nor Fadzilah Abdullah, N. L. Mohd Kamal","doi":"10.3390/drones8070334","DOIUrl":"https://doi.org/10.3390/drones8070334","url":null,"abstract":"Deploying 5G networks in mountainous rural regions can be challenging due to its unique and challenging characteristics. Attaching a transmitter to a UAV to enable connectivity requires a selection of suitable propagation models in such conditions. This research paper comprehensively investigates the signal propagation and performance under multiple frequencies, from mid-band to mmWaves range (3.5, 6, 28, and 60 GHz). The study focuses on rural mountainous regions, which were empirically simulated based on the Skardu, Pakistan, region. A complex 3D ray tracing method carefully figures out the propagation paths using the geometry of a 3D environment and looks at the effects in line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. The analysis considers critical parameters such as path loss, received power, weather loss, foliage loss, and the impact of varying UAV heights. Based on the analysis and regression modeling techniques, quadratic polynomials were found to accurately model the signal behavior, enabling signal strength predictions as a function of distances between the user and an elevated drone. Results were analyzed and compared with suburban areas with no mountains but more compact buildings surrounding the Universiti Kebangsaan Malaysia (UKM) campus. The findings highlight the need to identify the optimal height for the UAV as a base station, characterize radio channels accurately, and predict coverage to optimize network design and deployment with UAVs as additional sources. The research offers valuable insights for optimizing signal transmission and network planning and resolving spectrum-management difficulties in mountainous areas to enhance wireless communication system performance. The study emphasizes the significance of visualizations, statistical analysis, and outlier detection for understanding signal behavior in diverse environments.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141821443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Zhenyu Li, Xiangyuan Jiang, Sile Ma, Xiaojing Ma, Zhenyi Lv, Hongliang Ding, Haiyan Ji, Zheng Sun
In scenarios where the global navigation satellite system is unavailable, unmanned aerial vehicles (UAVs) can employ visual algorithms to process aerial images. These images are integrated with satellite maps and digital elevation models (DEMs) to achieve global localization. To address the localization challenge in unfamiliar areas devoid of prior data, an iterative computation-based localization framework is commonly used. This framework iteratively refines its calculations using multiple observations from a downward-facing camera to determine an accurate global location. To improve the rate of convergence for localization, we introduced an innovative observation model. We derived a terrain descriptor from the images captured by a forward-facing camera and integrated it as supplementary observation into a point-mass filter (PMF) framework to enhance the confidence of the observation likelihood distribution. Furthermore, within this framework, the methods for the truncation of the convolution kernel and that of the probability distribution were developed, thereby enhancing the computational efficiency and convergence rate, respectively. The performance of the algorithm was evaluated using real UAV flight sequences, a satellite map, and a DEM in an area measuring 7.7 km × 8 km. The results demonstrate that this method significantly accelerates the localization convergence during both takeoff and ascent phases as well as during cruise flight. Additionally, it increases localization accuracy and robustness in complex environments, such as areas with uneven terrain and ambiguous scenes. The method is applicable to the localization of UAVs in large-scale unknown scenarios, thereby enhancing the flight safety and mission execution capabilities of UAVs.
在没有全球导航卫星系统的情况下，无人驾驶飞行器（UAV）可采用视觉算法处理航空图像。这些图像与卫星地图和数字高程模型（DEM）相结合，可实现全球定位。为了应对在缺乏先验数据的陌生区域进行定位的挑战，通常采用基于迭代计算的定位框架。该框架利用从俯视摄像头获取的多个观测数据迭代改进计算，以确定准确的全球位置。为了提高定位的收敛速度，我们引入了一个创新的观测模型。我们从前向摄像头拍摄的图像中提取了一个地形描述符，并将其作为补充观测数据纳入点-质滤波器（PMF）框架，以提高观测数据似然分布的置信度。此外，在此框架内还开发了卷积核截断方法和概率分布截断方法，从而分别提高了计算效率和收敛速度。利用真实的无人机飞行序列、卫星地图和 7.7 km × 8 km 区域内的 DEM 评估了该算法的性能。结果表明，无论是在起飞和上升阶段，还是在巡航飞行期间，该方法都大大加快了定位收敛速度。此外，它还提高了在复杂环境中的定位精度和鲁棒性，如地形不平坦和场景模糊的区域。该方法适用于大规模未知场景中的无人机定位，从而提高无人机的飞行安全性和任务执行能力。
{"title":"Expediting the Convergence of Global Localization of UAVs through Forward-Facing Camera Observation","authors":"Zhenyu Li, Xiangyuan Jiang, Sile Ma, Xiaojing Ma, Zhenyi Lv, Hongliang Ding, Haiyan Ji, Zheng Sun","doi":"10.3390/drones8070335","DOIUrl":"https://doi.org/10.3390/drones8070335","url":null,"abstract":"In scenarios where the global navigation satellite system is unavailable, unmanned aerial vehicles (UAVs) can employ visual algorithms to process aerial images. These images are integrated with satellite maps and digital elevation models (DEMs) to achieve global localization. To address the localization challenge in unfamiliar areas devoid of prior data, an iterative computation-based localization framework is commonly used. This framework iteratively refines its calculations using multiple observations from a downward-facing camera to determine an accurate global location. To improve the rate of convergence for localization, we introduced an innovative observation model. We derived a terrain descriptor from the images captured by a forward-facing camera and integrated it as supplementary observation into a point-mass filter (PMF) framework to enhance the confidence of the observation likelihood distribution. Furthermore, within this framework, the methods for the truncation of the convolution kernel and that of the probability distribution were developed, thereby enhancing the computational efficiency and convergence rate, respectively. The performance of the algorithm was evaluated using real UAV flight sequences, a satellite map, and a DEM in an area measuring 7.7 km × 8 km. The results demonstrate that this method significantly accelerates the localization convergence during both takeoff and ascent phases as well as during cruise flight. Additionally, it increases localization accuracy and robustness in complex environments, such as areas with uneven terrain and ambiguous scenes. The method is applicable to the localization of UAVs in large-scale unknown scenarios, thereby enhancing the flight safety and mission execution capabilities of UAVs.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141821726","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Unmanned Aerial Vehicles (UAVs) have been widely used in localized data collection and information search. However, there are still many practical challenges in real-world operations of UAV search, such as unknown search environments. Specifically, the payoff and cost at each search point are unknown for the planner in advance, which poses a great challenge to decision making. That is, UAV search decisions should be made sequentially in an online manner thereby adapting to the unknown search environment. To this end, this paper initiates the problem of online decision making in UAV search planning, where the drone has limited energy supply as a constraint and has to make an irrevocable decision to search this area or route to the next in an online manner. To overcome the challenge of unknown search environment, a joint-planning approach is proposed, where both route selection and search decision are made in an integrated online manner. The integrated online decision is made through an online linear programming which is proved to be near-optimal, resulting in high information search revenue. Furthermore, this joint-planning approach can be favorably applied to multi-round online UAV search planning scenarios, showing a great superiority in first-mover dominance of gathering information. The effectiveness of the proposed approach is validated in a widely applied dataset, and experimental results show the superior performance of online search decision making.
{"title":"Online Unmanned Aerial Vehicles Search Planning in an Unknown Search Environment","authors":"Haopeng Duan, Kaiming Xiao, Lihua Liu, Haiwen Chen, Hongbin Huang","doi":"10.3390/drones8070336","DOIUrl":"https://doi.org/10.3390/drones8070336","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) have been widely used in localized data collection and information search. However, there are still many practical challenges in real-world operations of UAV search, such as unknown search environments. Specifically, the payoff and cost at each search point are unknown for the planner in advance, which poses a great challenge to decision making. That is, UAV search decisions should be made sequentially in an online manner thereby adapting to the unknown search environment. To this end, this paper initiates the problem of online decision making in UAV search planning, where the drone has limited energy supply as a constraint and has to make an irrevocable decision to search this area or route to the next in an online manner. To overcome the challenge of unknown search environment, a joint-planning approach is proposed, where both route selection and search decision are made in an integrated online manner. The integrated online decision is made through an online linear programming which is proved to be near-optimal, resulting in high information search revenue. Furthermore, this joint-planning approach can be favorably applied to multi-round online UAV search planning scenarios, showing a great superiority in first-mover dominance of gathering information. The effectiveness of the proposed approach is validated in a widely applied dataset, and experimental results show the superior performance of online search decision making.","PeriodicalId":507567,"journal":{"name":"Drones","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141821205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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