While most recent 3DGS-based SLAM works focus on small-scale indoor scenes, developing 3DGS-based SLAM methods for large-scale forest scenes holds great potential for many real-world applications, especially for wildfire emergency response and forest management. However, this line of research is impeded by the absence of a comprehensive and high-quality dataset, and collecting such a dataset over real-world scenes is costly and technically infeasible. To this end, we have built a large-scale, comprehensive, and high-quality synthetic dataset for SLAM in wildfire and forest environments. Leveraging the Unreal Engine 5 Electric Dreams Environment Sample Project, we developed a pipeline to easily collect aerial and ground views, including ground-truth camera poses and a range of additional data modalities from unmanned aerial vehicle. Our pipeline also provides flexible controls on environmental factors such as light, weather, and types and conditions of wildfire, supporting the need for various tasks covering forest mapping, wildfire emergency response, and beyond. The resulting pilot dataset, WildfireX-SLAM, contains 5.5k low-altitude RGB-D aerial images from a large-scale forest map with a total size of 16 km . On top of WildfireX-SLAM, a thorough benchmark is also conducted, which not only reveals the unique challenges of 3DGS-based SLAM in the forest but also highlights potential improvements for future works. The dataset and code will be publicly available.

Why did Israel launch air strikes on Gaza? What life is like in Gaza's crowded tents How is Israel using PR firms to frame its war? Will the US plan for Gaza fail? Hamas has denied accusations by the US Central Command (CENTCOM) that the Palestinian group looted aid trucks in the Gaza Strip. CENTCOM had published drone footage that allegedly showed an aid truck being looted in the enclave.

Trump-Xi meeting: Who has the upper hand? Could Trump go for a third term? Is the US eyeing its next Latin American target? Why is Trump tearing down parts of the White House? Russia's Ministry of Defence said its forces took control of the villages of Krasnohirske in Ukraine's Zaporizhia region and Sadove in the Kharkiv region, Russian state news agencies reported.

Abstract--Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. T o support systematic early-stage evaluation, we introduce FL YINGTRUST, a high-fidelity, configurable benchmarking framework that measures how platform kinodynamics and scenario structure jointly affect navigation robustness. The benchmark pairs a diverse scenario library with a heterogeneous set of real and virtual platforms and prescribes a standardized evaluation protocol together with a composite scoring method that balances scenario importance, platform importance and performance stability. We use FL YINGTRUST to compare representative optimization-based and learning-based navigation approaches under identical conditions, performing repeated trials per platform-scenario combination and reporting uncertainty-aware metrics. The results reveal systematic patterns: navigation success depends predictably on platform capability and scene geometry, and different algorithms exhibit distinct preferences and failure modes across the evaluated conditions. These observations highlight the practical necessity of incorporating both platform capability and scenario structure into algorithm design, evaluation, and selection, and they motivate future work on methods that remain robust across diverse platforms and scenarios. NMANNED Aerial V ehicles (UA Vs) are aircraft operated without onboard human pilots, either by remote control or by preprogrammed flight plans [1]. By independently modulating the speeds of four motor-propeller units, a quadrotor can generate collective thrust for vertical motion and differential thrust and reaction torques for attitude control. These capabilities enable six degrees of freedom motion combined with fine low-speed control, which drive extensive adoption of quadrotors in precision agriculture, infrastructure inspection, high-resolution mapping, environmental monitoring and disaster response [2]-[11]. The benchmark of FL YINGTRUST is available at https://github.com/ The blue line represents the straight-line reference path, and the red curve is an example of a collision-free trajectory executed by a planner. Over the last decade, many high-performance visual navigation methods have been developed, ranging from classical optimization-based planners to recent learning-based approaches [12]-[15].

This work has been submitted to the IEEE for possible publication. Abstract-- We present a novel approach to localizing radioactive material by cooperating Micro Aerial V ehicles (MA Vs). The detector's exceptionally low weight (40 g) opens up new possibilities of radiation detection by a team of cooperating agile MA Vs. We propose a new fundamental concept of fusing the Compton camera measurements to estimate the position of the radiation source in real time even from extremely sparse measurements. The data readout and processing are performed directly onboard and the results are used in a dynamic feedback to drive the motion of the vehicles. The MA Vs are stabilized in a tightly cooperating swarm to maximize the information gained by the Compton cameras, rapidly locate the radiation source, and even track a moving radiation source. I. INTRODUCTION Nuclear environments represent a domain particularly well suited for the deployment of mobile robots [1]-[3]. The primary driving force is to reduce human exposure to harmful radiation, and to facilitate access to areas that are difficult to reach by conventional means.

Rapid and reliable incident detection is critical for reducing crash-related fatalities, injuries, and congestion. However, conventional methods, such as closed-circuit television, dashcam footage, and sensor-based detection, separate detection from verification, suffer from limited flexibility, and require dense infrastructure or high penetration rates, restricting adaptability and scalability to shifting incident hotspots. To overcome these challenges, we developed DARTS, a drone-based, AI-powered real-time traffic incident detection system. DARTS integrates drones' high mobility and aerial perspective for adaptive surveillance, thermal imaging for better low-visibility performance and privacy protection, and a lightweight deep learning framework for real-time vehicle trajectory extraction and incident detection. The system achieved 99% detection accuracy on a self-collected dataset and supports simultaneous online visual verification, severity assessment, and incident-induced congestion propagation monitoring via a web-based interface. In a field test on Interstate 75 in Florida, DARTS detected and verified a rear-end collision 12 minutes earlier than the local transportation management center and monitored incident-induced congestion propagation, suggesting potential to support faster emergency response and enable proactive traffic control to reduce congestion and secondary crash risk. Crucially, DARTS's flexible deployment architecture reduces dependence on frequent physical patrols, indicating potential scalability and cost-effectiveness for use in remote areas and resource-constrained settings. This study presents a promising step toward a more flexible and integrated real-time traffic incident detection system, with significant implications for the operational efficiency and responsiveness of modern transportation management.

Flapping-wing drones have attracted significant attention due to their biomimetic flight. They are considered more human-friendly due to their characteristics such as low noise and flexible wings, making them suitable for human-drone interactions. However, few studies have explored the practical interaction between humans and flapping-wing drones. On establishing a physical interaction system with flapping-wing drones, we can acquire inspirations from falconers who guide birds of prey to land on their arms. This interaction interprets the human body as a dynamic landing platform, which can be utilized in various scenarios such as crowded or spatially constrained environments. Thus, in this study, we propose a falconry-like interaction system in which a flapping-wing drone performs a palm landing motion on a human hand. To achieve a safe approach toward humans, we design a trajectory planning method that considers both physical and psychological factors of the human safety such as the drone's velocity and distance from the user. We use a commercial flapping platform with our implemented motion planning and conduct experiments to evaluate the palm landing performance and safety. The results demonstrate that our approach enables safe and smooth hand landing interactions. To the best of our knowledge, it is the first time to achieve a contact-based interaction between flapping-wing drones and humans.

Frequent natural disasters cause significant losses to human society, and timely, efficient collection of post-disaster environmental information is the foundation for effective rescue operations. Due to the extreme complexity of post-disaster environments, existing sensing technologies such as mobile crowdsensing suffer from weak environmental adaptability, insufficient professional sensing capabilities, and poor practicality of sensing solutions. Therefore, this paper explores a heterogeneous multi-agent online collaborative scheduling algorithm, HoCs-MPQ, to achieve efficient collection of post-disaster environmental information. HoCs-MPQ models collaboration and conflict relationships among multiple elements through weighted undirected graph construction, and iteratively solves the maximum weight independent set based on multi-priority queues, ultimately achieving collaborative sensing scheduling of time-dependent UA Vs, vehicles, and workers. Specifically, (1) HoCs-MPQ constructs weighted undirected graph nodes based on collaborative relationships among multiple elements and quantifies their weights, then models the weighted undirected graph based on conflict relationships between nodes; (2) HoCs-MPQ solves the maximum weight independent set based on iterated local search, and accelerates the solution process using multi-priority queues. Finally, we conducted detailed experiments based on extensive real-world and simulated data. The experiments show that, compared to baseline methods (e.g., HoCs-GREEDY, HoCs-K-WTA, HoCs-MADL, and HoCs-MARL), HoCs-MPQ improves task completion rates by an average of 54.13%, 23.82%, 14.12%, and 12.89% respectively, with computation time for single online autonomous scheduling decisions not exceeding 3 seconds.

Interpreting visual observations and natural language instructions for complex task execution remains a key challenge in robotics and AI. Despite recent advances, language-driven navigation is still difficult, particularly for UAVs in small-scale 3D environments. Existing Vision-Language Navigation (VLN) approaches are mostly designed for ground robots and struggle to generalize to aerial tasks that require full 3D spatial reasoning. The emergence of large Vision-Language Models (VLMs), such as GPT and Claude, enables zero-shot semantic reasoning from visual and textual inputs. However, these models lack spatial grounding and are not directly applicable to navigation. To address these limitations, SoraNav is introduced, an adaptive UAV navigation framework that integrates zero-shot VLM reasoning with geometry-aware decision-making. Geometric priors are incorporated into image annotations to constrain the VLM action space and improve decision quality. A hybrid switching strategy leverages navigation history to alternate between VLM reasoning and geometry-based exploration, mitigating dead-ends and redundant revisits. A PX4-based hardware-software platform, comprising both a digital twin and a physical micro-UAV, enables reproducible evaluation. Experimental results show that in 2.5D scenarios, our method improves Success Rate (SR) by 25.7% and Success weighted by Path Length (SPL) by 17%. In 3D scenarios, it improves SR by 29.5% and SPL by 18.5% relative to the baseline.

Is Trump losing patience with Putin? Will sanctions against Russian oil giants hurt Putin? How much of Europe's oil still comes from Russia? Russia launched 396 attacks on 15 settlements in Ukraine's southern Zaporizhia region, killing one person and injuring three others, Governor Ivan Fedorov said on Tuesday. Russian forces also launched drone attacks, air strikes and artillery shelling across Ukraine's Kherson region, killing one person and wounding six, the head of the Kherson Regional Military Administration, Oleksandr Prokudin, said on Tuesday.