Drones, Volume 7, Issue 8 (August 2023) – 56 articles

For a quadrotor unmanned aerial vehicle (UAV), this paper proposes an adaptive sliding mode control (SMC) strategy enhanced with a disturbance observer to attain precise trajectory and attitude tracking performance while compensating for the detrimental impacts of actuator faults and disturbances. First, an adaptive SMC strategy that utilizes an integral sliding surface is presented to enhance the fault-tolerance capabilities of the studied quadrotor UAV against actuator faults. In addition, a disturbance observer is further created to compensate for the disturbances. By integrating the proposed adaptive SMC strategy with the designed disturbance observer, both actuator faults and disturbances can be effectively accommodated. It was theoretically demonstrated that the system is stable while using the proposed adaptive fault-tolerant control strategy. The effectiveness and benefits of the proposed strategy is verified with comparative simulation results under different faulty scenarios. Full article

In Global Navigation Satellite System (GNSS)-denied environments, image registration has emerged as a prominent approach to utilize visual information for estimating the position of Unmanned Aerial Vehicles (UAVs). However, traditional image-registration-based localization methods encounter limitations, such as strong dependence on the prior initial position information. In this paper, we propose a systematic method for UAV geo-localization. In particular, an efficient range–visual–inertial odometry (RVIO) is proposed to provide local tracking, which utilizes measurements from a 1D Laser Range Finder (LRF) to suppress scale drift in the odometry. To overcome the differences in seasons, lighting conditions, and other factors between satellite and UAV images, we propose an image-registration-based geo-localization method in a coarse-to-fine manner that utilizes the powerful representation ability of Convolutional Neural Networks (CNNs). Furthermore, to ensure the accuracy of global optimization, we propose an adaptive weight assignment method based on the evaluation of the quality of image-registration-based localization. The proposed method is extensively evaluated in both synthetic and real-world environments. The results demonstrate that the proposed method achieves global drift-free estimation, enabling UAVs to accurately localize themselves in GNSS-denied environments. Full article

Unlike the roll motion of the unmanned aerial vehicle (UAV) controlled by the ailerons, the moving-mass actuated unmanned aerial vehicle (MAUAV) uses the motion of the mass block inside the wing to generate the roll moment. The light weight and severe coupling of lateral and longitudinal motion of this type of small UAV make its landing control a challenging task. Considering the above problems, the dynamic models of MAUAV are first established. Then, forward velocity, altitude, attitude, and moving-mass position controllers are designed separately to make the MAUAV track a given path during the landing process. Linear active disturbance rejection control (LADRC) is introduced in the design process of all four controllers, compensating for unknown disturbances in the system. Simulation results show that the proposed control scheme can achieve fast and accurate tracking of forward velocity and flight trajectory commands with good robustness to model uncertainties. Full article

A remotely piloted aircraft system (RPAS) survey of an area containing the eastern extremity of King George Island, including Cape Melville and an extensive part of Destruction Bay, as well as small offshore islands, was undertaken in December 2022. Using RPAS, an inventory of the Destruction Bay area was performed. Chinstrap penguin and Antarctic shag nests were found on Cape Melville and on Trowbridge Island, Middle Island, and an unnamed area located between the Ørnen Rocks formation and Trowbridge Island. During the survey, 507 Antarctic shag nests and over 9000 chinstrap penguin nests were mapped in the investigated area; 458 Antarctic shag nests and 4960 ± 19 chinstrap penguin nests aggregated together on an 8.61 ha land section of Cape Melville were identified. The quantity of Antarctic shag nests found allows for the classification of the area of Cape Melville as an IBA. Among the 175 currently known colonies of Antarctic shags in Antarctica, this is the fifth largest. In this paper, we present the results of the survey, including orthophotos with mapped nest locations. We propose the following recommendations to policy makers and the scientific community: (1) the area of Cape Melville should be classified as an Antarctic Important Bird and Biodiversity Area; (2) based on the RPAS flight, a new boundary of the Cape Melville IBA is proposed; (3) the threshold value (based on >1% of species) to establish an IBA for Antarctic shags should be changed to 122 to reflect the increased estimate of the global population of Antarctic shags; and (4) an inventory of all areas, including previous IBAs that can be qualified as “major colonies of breeding native birds”, should be recommended at the Antarctic Treaty Consultative Meeting (ATCM). In logistically inaccessible bird breeding sites, such as the one presented here, RPASs should be used to carry out regular monitoring of Antarctic Important Bird and Biodiversity Areas. Full article

This paper offers a comprehensive review of traditional and advanced stockpile volume-estimation techniques employed within both outdoor and indoor confined spaces, whether that be a terrestrial- or an aerial-based technique. Traditional methods, such as manual measurement and satellite imagery, exhibit limitations in handling irregular or constantly changing stockpiles. On the other hand, more advanced techniques, such as global navigation satellite system (GNSS), terrestrial laser scanning (TLS), drone photogrammetry, and airborne light detection and ranging (LiDAR), have emerged to address these challenges, providing enhanced accuracy and efficiency. Terrestrial techniques relying on GNSS, TLS, and LiDAR offer accurate solutions; however, to minimize or eliminate occlusions, surveyors must access geometrically constrained places, representing a serious safety hazard. With the speedy rise of drone technologies, it was not unexpected that they found their way to the stockpile volume-estimation application, offering advantages such as ease of use, speed, safety, occlusion elimination, and acceptable accuracy compared to current standard methods, such as TLS and GNSS. For outdoor drone missions, image-based approaches, like drone photogrammetry, surpass airborne LiDAR in cost-effectiveness, ease of deployment, and color information, whereas airborne LiDAR becomes advantageous when mapping complex terrain with vegetation cover, mapping during low-light or dusty conditions, and/or detecting small or narrow objects. Indoor missions, on the other hand, face challenges such as low lighting, obstacles, dust, and limited space. For such applications, most studies applied LiDAR sensors mounted on tripods or integrated on rail platforms, whereas very few utilized drone solutions. In fact, the choice of the most suitable technique/approach depends on factors such as site complexity, required accuracy, project cost, and safety considerations. However, this review puts more focus on the potential of drones for stockpile volume estimation in confined spaces, and explores emerging technologies, such as solid-state LiDAR and indoor localization systems, which hold significant promise for the future. Notably, further research and real-world applications of these technologies will be essential for realizing their full potential and overcoming the challenges of operating robots in confined spaces. Full article

Wetlands possess significant ecological value and play a crucial role in the environment. Recent advancements in remote exploration technology have enabled a quantitative analysis of wetlands through surveys on the type of cover present. However, the classification of complex cover types as land cover types in wetlands remains challenging, leading to ongoing studies aimed at addressing this issue. With the advent of high-resolution sensors in unmanned aerial vehicles (UAVs), researchers can now obtain detailed data and utilize them for their investigations. In this paper, we sought to establish an effective method for classifying centimeter-scale images using multispectral and hyperspectral techniques. Since there are numerous classes of land cover types, it is important to build and extract effective training data for each type. In addition, computer vision-based methods, especially those that combine deep learning and machine learning, are attracting considerable attention as high-accuracy methods. Collecting training data before classifying by cover type is an important factor that which requires effective data sampling. To obtain accurate detection results, a few data sampling techniques must be tested. In this study, we employed two data sampling methods (endmember and pixel sampling) to acquire data, after which their accuracy and detection outcomes were compared through classification using spectral angle mapper (SAM), support vector machine (SVM), and artificial neural network (ANN) approaches. Our findings confirmed the effectiveness of the pixel-based sampling method, demonstrating a notable difference of 38.62% compared to the endmember sampling method. Moreover, among the classification methods employed, the SAM technique exhibited the highest effectiveness, with approximately 10% disparity observed in multispectral data and 7.15% in hyperspectral data compared to the other models. Our findings provide insights into the accuracy and classification outcomes of different models based on the sampling method employed in spectral imagery. Full article

This study investigates the use of small unoccupied aerial systems (sUAS) as a new remote sensing tool to identify and track the spatial distribution of wrack on coastal tidal marsh systems. We used sUAS to map the wrack movement in a Spartina alterniflora-dominated salt marsh monthly for one year including before and after Hurricane Isaias that brought strong winds, rain, and storm surge to the area of interest in August 2020. Flight parameters for each data collection mission were held constant including collection only during low tide. Wrack was visually identified and digitized in a GIS using every mission orthomosaic created from the mission images. The digitized polygons were visualized using a raster data model and a combination of all of the digitized wrack polygons. Results indicate that wrack mats deposited before and as a result of a hurricane event remained for approximately three months. Furthermore, 55% of all wrack detritus was closer than 10 m to river or stream water bodies, 64% were within 15 m, and 71% were within 20 m, indicating the spatial dependence of wrack location in a marsh system on water and water movement. However, following the passing of Isaias, the percentage of wrack closer than 10 m to a river or creek decreased to a low of 44%, which was not seen again during the year-long study. This study highlights the on-demand image collection of a sUAS for providing new insights into how quickly wrack distribution and vegetation can change over a short time. Full article

The drone-small-cell-assisted air-ground integrated network is a promising architecture for enabling diverse vehicle applications. This paper presents a joint resource slicing and vehicle association framework for drone-assisted vehicular networks, which facilitates spectrum sharing among heterogeneous base stations (BSs) and achieves dynamic resource provisioning in the presence of network load dynamics. We formulate the network utility maximization problem as mixed-integer nonlinear programming, considering traffic statistics, quality-of-service (QoS) constraints, varying vehicle locations, load conditions in each cell, and interdrone interference. The original maximization problem is transformed into a biconcave optimization problem to ensure mathematical tractability. An alternate concave search algorithm is then designed to iteratively solve vehicle association patterns and spectrum partitioning among heterogeneous BSs until convergence. Simulation results show that the proposed scheme achieves a significant performance improvement in throughput and spectrum utilization compared with two other baseline schemes. Full article

Rubber tree is one of the essential tropical economic crops, and rubber tree powdery mildew (PM) is the most damaging disease to the growth of rubber trees. Accurate and timely detection of PM is the key to preventing the large-scale spread of PM. Recently, unmanned aerial vehicle (UAV) remote sensing technology has been widely used in the field of agroforestry. The objective of this study was to establish a method for identifying rubber trees infected or uninfected by PM using UAV-based multispectral images. We resampled the original multispectral image with 3.4 cm spatial resolution to multispectral images with different spatial resolutions (7 cm, 14 cm, and 30 cm) using the nearest neighbor method, extracted 22 vegetation index features and 40 texture features to construct the initial feature space, and then used the SPA, ReliefF, and Boruta–SHAP algorithms to optimize the feature space. Finally, a rubber tree PM monitoring model was constructed based on the optimized features as input combined with KNN, RF, and SVM algorithms. The results show that the simulation of images with different spatial resolutions indicates that, with resolutions higher than 7 cm, a promising classification result (>90%) is achieved in all feature sets and three optimized feature subsets, in which the 3.4 cm resolution is the highest and better than 7 cm, 14 cm, and 30 cm. Meanwhile, the best classification accuracy was achieved by combining the Boruta–SHAP optimized feature subset and SVM model, which were 98.16%, 96.32%, 95.71%, and 88.34% at 3.4 cm, 7 cm, 14 cm, and 30 cm resolutions, respectively. Compared with SPA–SVM and ReliefF–SVM, the classification accuracy was improved by 6.14%, 5.52%, 12.89%, and 9.2% and 1.84%, 0.61%, 1.23%, and 6.13%, respectively. This study’s results will guide rubber tree plantation management and PM monitoring. Full article

The Antarctic atmosphere is rapidly changing, but there are few observations available in the interior of the continent to quantify this change due to few ground stations and satellite measurements. The Concordia station is located on the East Antarctic Plateau (75° S, 123° E, 3233 m above mean sea level), one of the driest and coldest places on Earth. Several remote sensing instruments are available at the station to probe the atmosphere, together with operational meteorological sensors. In order to observe in situ clouds, temperature, relative humidity and supercooled liquid water (SLW) at a high vertical resolution, a new project based on the use of an unmanned aerial vehicle (drone) vertical take-off and landing from the DeltaQuad Company has been set up at Concordia. A standard Vaisala pressure, temperature and relative humidity sensor was installed aboard the drone coupled to an Anasphere SLW sensor. A total of thirteen flights were conducted from 24 December 2022 to 17 January 2023: nine technology flights and four science flights (on 2, 10, 11 and 13 January 2023). Drone-based temperature and relative humidity profiles were compared to (1) the balloon-borne meteorological observations at 12:00 UTC, (2) the ground-based microwave radiometer HAMSTRAD and (3) the outputs from the numerical weather prediction models ARPEGE and AROME. No SLW clouds were present during the period of observations. Despite technical issues with drone operation due to the harsh environments encountered (altitude, temperature and geomagnetic field), the drone-based observations were consistent with the balloon-borne observations of temperature and relative humidity. The radiometer showed a systematic negative bias in temperature of 2 °C, and the two models were, in the lowermost troposphere, systematically warmer (by 2–4 °C) and moister (by 10–30%) than the drone-based observations. Our study shows the great potential of a drone to probe the Antarctic atmosphere in situ at very high vertical resolution (a few meters). Full article

Autonomy is the main task of a quadrotor, and visual servoing assists with this task while providing fault tolerance under GPS failure. The main approach to visual servoing is image-based visual servoing, which uses image features directly without the need for pose estimation. The classical sliding surface design of sliding mode control is used by the linear controller law of image-based visual servoing, and focuses only on minimizing the error in the image features as convergence. In addition to providing convergence, performance characteristics such as visual-feature-convergence time, error, and motion characteristics should be taken into consideration while controlling a quadrotor under velocity limitations and disturbance. In this study, an image-based visual servoing system for quadrotors with five different sliding surface designs is proposed using analytical techniques and fuzzy logic. The proposed visual servo system was simulated, utilizing the moment characteristics of a preset shape to demonstrate the effectiveness of these designs. The stated parameters, convergence time, errors, motion characteristics, and length of the path, followed by the quadrotor, were compared for each of these design approaches, and a convergence time that was 46.77% shorter and path length that was 6.15% shorter were obtained by these designs. In addition to demonstrating the superiority of the designs, this study can be considered as a reflection of the realization, as well as the velocity constraints and disturbance resilience in the simulations. Full article

Carrier-based unmanned aerial vehicles (UAVs) require precise evaluation methods for their landing and arresting safety due to their high autonomy and demanding reliability requirements. In this paper, an efficient and accurate simulation method is presented for studying the arresting hook engaging arresting cable process. The finite element method and multibody dynamics (FEM-MBD) approach is employed. By establishing a rigid–flexible coupling model encompassing the UAV and arresting gear system, the simulation model for the engagement process is obtained. The model incorporates multiple coordinate systems to effectively capture the relative motion between the rigid and flexible components. The model considers the material properties, arresting gear system characteristics, and UAV state during engagement. Verification is conducted by comparing simulation results with experimental data from a referenced arresting hook rebound. Finally, simulations are performed under different touchdown points and roll angles of the UAV to analyze the stress distribution of the hook, center of gravity variations, and the tire touch and rollover cable response. The proposed rigid–flexible coupling arresting dynamics model in this paper enables the effective analysis of the dynamic behavior during the arresting hook engaging arresting cable process. Full article

Due to their low cost, interference resistance, and concealment of vision sensors, vision-based landing systems have received a lot of research attention. However, vision sensors are only used as auxiliary components in visual landing systems because of their limited accuracy. To solve the problem of the inaccurate position estimation of vision-only sensors during landing, a novel data closed-loop pose-estimation algorithm with an implicit neural map is proposed. First, we propose a method with which to estimate the UAV pose based on the runway’s line features, using a flexible coarse-to-fine runway-line-detection method. Then, we propose a mapping and localization method based on the neural radiance field (NeRF), which provides continuous representation and can correct the initial estimated pose well. Finally, we develop a closed-loop data annotation system based on a high-fidelity implicit map, which can significantly improve annotation efficiency. The experimental results show that our proposed algorithm performs well in various scenarios and achieves state-of-the-art accuracy in pose estimation. Full article

This paper conducts a focused probabilistic risk assessment (PRA) on the reliability of commercial off-the-shelf (COTS) drones deployed for surveillance in areas with diverse radiation levels following a nuclear accident. The study employs the event tree/fault tree digraph approach, integrated with the dual-graph error propagation method (DEPM), to model sequences that could lead to loss of mission (LOM) scenarios due to combined hardware–software failures in the drone’s navigation system. The impact of radiation is simulated by a comparison of the total ionizing dose (TID) with the acceptable limit for each component. Errors are then propagated within the electronic hardware and software blocks to determine the navigation system’s reliability in different radiation zones. If the system is deemed unreliable, a strategy is suggested to identify the minimum radiation-hardening requirement for its subcomponents by reverse-engineering from the desired mission success criteria. The findings of this study can aid in the integration of COTS components into radiation-hardened (RAD-HARD) designs, optimizing the balance between cost, performance, and reliability in drone systems for nuclear-contaminated search and rescue missions. Full article

In order to solve the problem of multiple aircraft formation transformation to a designated formation, a distributed formation transformation algorithm that decomposes the formation transformation problem into target-matching problems and trajectory-planning problems was studied. According to the actual formation transformation requirements, the target allocation index was proposed, and the improved genetic algorithm which is 23% better than other algorithms was used to achieve target matching. The adaptive cross-mutation probability was designed, and the population was propagated without duplicates by the hash algorithm. The multi-objective algorithm of distributed model predictive control was used to design smooth and conflict-free trajectories for the UAVs in formation transformation, and the trajectory-planning problem was transformed into a quadratic programming problem under inequality constraints. Finally, point-to-point collision-free offline trajectory planning was realized by simulation. Full article

Object detection in unmanned aerial vehicle (UAV) imagery is a meaningful foundation in various research domains. However, UAV imagery poses unique challenges, including large image sizes, small sizes detection objects, dense distribution, overlapping instances, and insufficient lighting impacting the effectiveness of object detection. In this article, we propose Drone-YOLO, a series of multi-scale UAV image object detection algorithms based on the YOLOv8 model, designed to overcome the specific challenges associated with UAV image object detection. To address the issues of large scene sizes and small detection objects, we introduce improvements to the neck component of the YOLOv8 model. Specifically, we employ a three-layer PAFPN structure and incorporate a detection head tailored for small-sized objects using large-scale feature maps, significantly enhancing the algorithm’s capability to detect small-sized targets. Furthermore, we integrate the sandwich-fusion module into each layer of the neck’s up–down branch. This fusion mechanism combines network features with low-level features, providing rich spatial information about the objects at different layer detection heads. We achieve this fusion using depthwise separable evolution, which balances parameter costs and a large receptive field. In the network backbone, we employ RepVGG modules as downsampling layers, enhancing the network’s ability to learn multi-scale features and outperforming traditional convolutional layers. The proposed Drone-YOLO methods have been evaluated in ablation experiments and compared with other state-of-the-art approaches on the VisDrone2019 dataset. The results demonstrate that our Drone-YOLO (large) outperforms other baseline methods in the accuracy of object detection. Compared to YOLOv8, our method achieves a significant improvement in $mA{P}_{0.5}$ metrics, with a 13.4% increase on the VisDrone2019-test and a 17.40% increase on the VisDrone2019-val. Additionally, the parameter-efficient Drone-YOLO (tiny) with only 5.25 M parameters performs equivalently or better than the baseline method with 9.66M parameters on the dataset. These experiments validate the effectiveness of the Drone-YOLO methods in the task of object detection in drone imagery. Full article

Quadrature amplitude modulation (QAM) is one of the essential components of unmanned 1 aerial vehicle (UAV) communications. However, the output signal accuracy of QAM deteriorates dramatically and even collapses in the case of UAVs in a harsh channel environment. This is due to the fractionally spaced equalization based on the multi-modulus blind equalization algorithm being implemented prior to carrier synchronization in QAM-based UAV modulation systems. The carrier frequency offset from the harsh channel signal thus contributes to the significantly degraded performance of MMA by suffering the fractionally spaced equalization. Therefore, in this paper, a novel offset feedback fractionally spaced equalization architecture for UAVs to eliminate the carrier frequency offset is first proposed. In this architecture, the carrier frequency offset allows estimated and incorporation into the input signal of fractionally spaced equalization to compensate for the offset. Moreover, a new multi-modulus decision-directed algorithm is presented for the novel architecture to improve the received signal accuracy of UAVs further. It enables adaptive optimization of the convergence process in accordance with the dynamic UAV communication environment employing the multi-modulus blind equalization algorithm and decision-directed blind equalization algorithm (MDD). Simulation results demonstrate the effectiveness of the OF-FSE framework in enabling the QAM-based UAV modulation systems operation in harsh channel scenarios. Moreover, the performance of the presented new MDD algorithm compared with baseline approaches is also confirmed. Full article

Airborne laser scanning (ALS) and terrestrial laser scanning (TLS) are two ways to obtain forest three-dimensional (3D) spatial information. Due to canopy occlusion and the features of different scanning methods, some of the forest point clouds acquired by a single scanning platform may be missing, resulting in an inaccurate estimation of forest structure parameters. Hence, the registration of ALS and TLS point clouds is an alternative for improving the estimation accuracy of forest structure parameters. Currently, forest point cloud registration is mainly conducted based on individual tree attributes (e.g., location, diameter at breast height, and tree height), but the registration is affected by individual tree segmentation and is inefficient. In this study, we proposed a method to automatically fuse ALS and TLS point clouds by using feature points of canopy gap shapes. First, the ALS and TLS canopy gap boundary vectors were extracted by the canopy point cloud density model, and the turning or feature points were obtained from the canopy gap vectors using the weighted effective area (WEA) algorithm. The feature points were then aligned, the transformation parameters were solved using the coherent point drift (CPD) algorithm, and the TLS point clouds were further aligned using the recovery transformation matrix and refined by utilizing the iterative closest point (ICP) algorithm. Finally, individual tree segmentations were performed to estimate tree parameters using the TLS and fusion point clouds, respectively. The results show that the proposed method achieved more accurate registration of ALS and TLS point clouds in four plots, with the average distance residuals of coarse and fine registration of 194.83 cm and 2.14 cm being much smaller compared with those from the widely used crown feature point-based method. Using the fused point cloud data led to more accurate estimates of tree height than using the TLS point cloud data alone. Thus, the proposed method has the potential to improve the registration of ALS and TLS point cloud data and the accuracy of tree height estimation. Full article

This paper investigates the joint task allocation and resource optimization problem in an integrated radar and communication multi-UAV (IRCU) system. Specifically, we assign reconnaissance UAVs and communication UAVs to perform the detection, tracking and communication tasks under the resource, priority and timing constraints by optimizing task allocation, power as well as channel bandwidth. Due to complex coupling among task allocation and resource optimization, the considered problem is proved to be non-convex. To solve the considered problem, we present a loop iterative optimization (LIO) algorithm to obtain the optimal solution. In fact, the mentioned problem is decomposed into three sub-problems, such as task allocation, power optimization and channel bandwidth optimization. At the same time, these three problems are solved by the divide-and-conquer algorithm, the successive convex approximation (SCA) algorithm and the improved particle swarm optimization (PSO) algorithm, respectively. Finally, numerical simulations demonstrate that the proposed LIO algorithm consumes fewer iterations or achieves higher maximum joint performance than other baseline schemes for solving the considered problem. Full article

In this study, a sliding-mode controller is designed using an adaptive reaching law with a super-twisting algorithm. A dynamic model of a drone is designed with a quadrotor that has four motors and considers disturbances and model uncertainties. Given that the drone operates as an under-actuated system, its flight stability and maneuverability are influenced by the discontinuous signal produced by the reaching law of the sliding-mode control. Therefore, this study aims to improve the sliding-mode control and stability of drone flight using the proposed adaptive law, which is based on exponential properties. The discontinuous signal of a conventional strategy is overcome using the super-twisting algorithm, and the drone rapidly reaches equilibrium using the proposed adaptive law that utilizes the sliding surface value. The proposed control strategy covers a higher dimension than the conventional sliding-mode control strategy; the system stability is proven using the strict Lyapunov function. The reaching time estimation results are introduced and used to compare the respective reaching times of the control strategies. To verify the superior performance of the proposed control method, multiple experiments are conducted under various situations and realizations. The simulation results prove that the proposed control method achieved a superior rapid response, stable maneuvering, and robustness with shorter reaching time. Full article

This research investigates the utilisation of the scan-to-HBIM-to-XR process and unmanned aerial vehicle (UAV) photogrammetry to improve the depiction of archaeological ruins, specifically focusing on the Claudius Anio Novus aqueduct in Tor Fiscale Park, Rome. UAV photogrammetry is vital in capturing detailed aerial imagery of the aqueduct and its surroundings. Drones with high-resolution cameras acquire precise and accurate data from multiple perspectives. Subsequently, the acquired data are processed to generate orthophotos, drawings and historic building information modelling (HBIM) of the aqueduct, contributing to the future development of a digital twin. Virtual and augmented reality (VR-AR) technology is then employed to create an immersive experience for users. By leveraging XR, individuals can virtually explore and interact with the aqueduct, providing realistic and captivating visualisation of the archaeological site. The successful application of the scan-to-HBIM-to-XR process and UAV photogrammetry demonstrates their potential to enhance the representation of building archaeology. This approach contributes to the conservation of cultural heritage, enables educational and tourism opportunities and fosters novel research avenues for the comprehension and experience of ancient structures. Full article

This paper experimentally analyzed the cognitive load of users based on different methods of operating hovering objects, such as drones. The traditional gamepad-type control method (2D) was compared with a control method that mapped the movement directions of the drone to the natural manipulation gestures of the user using a Leap Motion device (3D). Twenty participants operated the drone on an obstacle course using the two control methods. The drone’s trajectory was measured using motion-capture equipment with a reflective marker. The distance traveled by the drone, operation time, and trajectory smoothness were calculated and compared between the two control methods. The results showed that when the drone’s movements were mapped to the user’s natural directional gestures, the drone’s 3D movements were perceived as more natural and smoother. A more intuitive drone control method can reduce cognitive load and minimize operational errors, making it more user friendly and efficient. However, due to the users’ lack of familiarity with Leap Motion, it resulted in longer distance and time and lower subjective satisfaction; therefore, a more improved 3D control method over Leap Motion is needed to address the limitations. Full article

This study demonstrates the feasibility of a mobile aerial drone particle monitoring system (DPMS) to measure and detect changes in harvest dust levels based on moderate adjustments to harvester settings. When compared to an earlier harvester, a new harvester operated at standard settings produced 35% fewer PM2.5s, 32% fewer PM10s, and 42% fewer TSPs. Increasing the ground speed had an adverse effect on dust mitigation, while reducing it by half only offered a slightly more favorable margin. The mutual effects of some meteorological factors were found to be slightly correlated with PM10 and TSP readings and caused significant variability in PM2.5 readings. The current findings show similar trends to PM reduction estimates of previous studies, with only a nominal difference of 10 to 15% points. Overall, the DPMS was found to perform well within an acceptable statistical confidence level. The use of DPMSs could reduce the logistical needs, complexity issues, and feedback times often experienced using the Federal Reference Method (FRM). Further investigation is needed to verify its robustness and to develop potential correlations with the FRM under different orchard location and management practices. At this stage, the current aerial DPMS should be considered a rapid screening tool not to replace the FRM, but rather to complement it in evaluating the feasibility of dust abatement strategies for the almond industry. Full article

On one hand combining Unmanned Aerial Vehicles (UAVs) and Non-Orthogonal Multiple Access (NOMA) is a remarkable direction to sustain the exponentially growing traffic requirements of the forthcoming Sixth Generation (6G) networks. In this paper, we investigate effective Power Allocation (PA) and Trajectory Planning Algorithm (TPA) for UAV-aided NOMA systems to assist multiple survivors in a post-disaster scenario, where ground stations are malfunctioned. Here, the UAV maneuvers to collect data from survivors, which are grouped in multiple clusters within the disaster area, to satisfy their traffic demands. On the other hand, while the problem is formulated as Budgeted Multi-Armed Bandits (BMABs) that optimize the UAV trajectory and minimize battery consumption, challenges may arise in real-world scenarios. Herein, the UAV is the bandit player, the disaster area clusters are the bandit arms, the sum rate of each cluster is the payoff, and the UAV energy consumption is the budget. Hence, to tackle these challenges, two Upper Confidence Bound (UCB) BMAB schemes are leveraged to handle this issue, namely BUCB1 and BUCB2. Simulation results confirm the superior performance of the proposed BMAB solution against benchmark solutions for UAV-aided NOMA communication. Notably, the BMAB-NOMA solution exhibits remarkable improvements, achieving 60% enhancement in the total number of assisted survivors, 80% improvement in convergence speed, and a considerable amount of energy saving compared to UAV-OMA. Full article

Fusing infrared and visible images taken by an unmanned aerial vehicle (UAV) is a challenging task, since infrared images distinguish the target from the background by the difference in infrared radiation, while the low resolution also produces a less pronounced effect. Conversely, the visible light spectrum has a high spatial resolution and rich texture; however, it is easily affected by harsh weather conditions like low light. Therefore, the fusion of infrared and visible light has the potential to provide complementary advantages. In this paper, we propose a multi-scale dense feature-aware network via integrated attention for infrared and visible image fusion, namely DFA-Net. Firstly, we construct a dual-channel encoder to extract the deep features of infrared and visible images. Secondly, we adopt a nested decoder to adequately integrate the features of various scales of the encoder so as to realize the multi-scale feature representation of visible image detail texture and infrared image salient target. Then, we present a feature-aware network via integrated attention to further fuse the feature information of different scales, which can focus on specific advantage features of infrared and visible images. Finally, we use unsupervised gradient estimation and intensity loss to learn significant fusion features of infrared and visible images. In addition, our proposed DFA-Net approach addresses the challenges of fusing infrared and visible images captured by a UAV. The results show that DFA-Net achieved excellent image fusion performance in nine quantitative evaluation indexes under a low-light environment. Full article

This work presents the development and evaluation of a real-time 3D reconstruction system using drones. The system leverages innovative artificial intelligence techniques in photogrammetry and computer vision (CDS-MVSNet and DROID-SLAM) to achieve the accurate and efficient reconstruction of 3D environments. By integrating vision, navigation, and 3D reconstruction subsystems, the proposed system addresses the limitations of existing applications and software in terms of speed and accuracy. The project encountered challenges related to scheduling, resource availability, and algorithmic complexity. The obtained results validate the applicability of the system in real-world scenarios and open avenues for further research in diverse areas. One of the tests consisted of a one-minute-and-three-second flight around a small figure, while the reconstruction was performed in real time. The reference Meshroom software completed the 3D reconstruction in 136 min and 12 s, while the proposed system finished the process in just 1 min and 13 s. This work contributes to the advancement in the field of 3D reconstruction using drones, benefiting from advancements in technology and machine learning algorithms. Full article

The integration of drones in the construction industry has ushered in a new era of efficiency, accuracy, and safety throughout the various phases of construction projects. This paper presents a comprehensive overview of the applications of drones in the construction industry, focusing on their utilization in the design, construction, and maintenance phases. The differences between the three different types of drones are discussed at the beginning of the paper where the overview of the drone applications in construction industry is then described. Overall, the integration of drones in the construction industry has yielded transformative advancements across all phases of construction projects. As technology continues to advance, drones are expected to play an increasingly critical role in shaping the future of the construction industry. Full article

In the past few decades, drones have become lighter, with longer hang times, and exhibit more agile performance. To maximize their capabilities during flights in complex environments, researchers have proposed various model-based perception, planning, and control methods aimed at decomposing the problem into modules and collaboratively accomplishing the task in a sequential manner. However, in practical environments, it is extremely difficult to model both the drones and their environments, with very few existing model-based methods. In this study, we propose a novel model-free reinforcement-learning-based method that can learn the optimal planning and control policy from experienced flight data. During the training phase, the policy considers the complete state of the drones and environmental information as inputs. It then self-optimizes based on a predefined reward function. In practical implementations, the policy takes inputs from onboard and external sensors and outputs optimal control commands to low-level velocity controllers in an end-to-end manner. By capitalizing on this property, the planning and control policy can be improved without the need for an accurate system model and can drive drones to traverse complex environments at high speeds. The policy was trained and tested in a simulator, as well as in real-world flight experiments, demonstrating its practical applicability. The results show that this model-free method can learn to fly effectively and that it holds great potential to handle different tasks and environments. Full article

The heterogeneity of unmanned aerial vehicle (UAV) nodes and the dynamic service demands make task scheduling particularly complex in the drone edge cluster (DEC) scenario. In this paper, we provide a universal intelligent collaborative task scheduling framework, named DECCo, which schedules dynamically changing task requests for the heterogeneous DEC. Benefiting from the latest advances in deep reinforcement learning (DRL), DECCo autonomously learns task scheduling strategies with high response rates and low communication latency through a collaborative Advantage Actor–Critic algorithm, which avoids the interference of resource overload and local downtime while ensuring load balancing. To better adapt to the real drone collaborative scheduling scenario, DECCo switches between heuristic and DRL-based scheduling solutions based on real-time scheduling performance, thus avoiding suboptimal decisions that severely affect Quality of Service (QoS) and Quality of Experience (QoE). With flexible parameter control, DECCo can adapt to various task requests on drone edge clusters. Google Cluster Usage Traces are used to verify the effectiveness of DECCo. Therefore, our work represents a state-of-the-art method for task scheduling in the heterogeneous DEC. Full article

Digital recording of historic buildings and sites in mountainous areas could be challenging. The paper considers and discusses the case of historical defensive structures in the Italian Alps, designed and built to be not accessible. Drone images and photogrammetric techniques for 3D modeling play a fundamental role in the digital documentation of fortified constructions with non-contact techniques. This manuscript describes the use of drones for reconstructing the external surfaces of some fortified structures using traditional photogrammetric/SfM solutions and novel methods based on NeRFs. The case of direct orientation based on PPK and traditional GCPs placed on the ground is also discussed, considering the difficulties in placing and measuring control points in such environments. Full article