--Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS receivers. Therefore, a more efficient and scalable solution remains necessary. This paper proposes an alternative approach that leverages an aerial drone equipped with GNSS localization to track and localize a marine robot once it is near the surface of the water . Our results show that this novel adaptation enables accurate single and multi-robot marine robot localization. In this paper, we explore the use of an aerial drone equipped with GNSS localization to track and localize a marine robot when it is near the surface, presenting a novel adaptation of this technique for multi-robot localization in marine environments. Robot localization typically involves the use of a Global Navigation Satellite System (GNSS) such as the Global Positioning System (GPS) that estimates the position of a robot through the use of various satellites. Extending this solution to marine robots is challenging due to the limitations of GNSS signal propagation.

A Russian drone attack has inflicted tens of millions of pounds of damage to the site of the Chornobyl nuclear power plant, according to experts. The photographer Julia Kochetova has gained access to the area

Israel said the airport attack was in response to a Houthi ballistic missile strike near Ben-Gurion International Airport, outside Tel Aviv, on Sunday. Multiple airlines have temporarily suspended flights in response to the attack, which wounded at least six people. For more than a year, the Houthis, who rule much of northwestern Yemen, have fired rockets and drones at Israel and ships in the Red Sea in what they call a solidarity campaign with Palestinians in Gaza. The United States has lent its military support to Israel in the conflict, launching missile strikes against Yemen and deploying its aircraft carriers to protect shipping. The efforts began under the Biden administration but were stepped up in mid-March, when Mr. Trump sharply escalated attacks and vowed that the Houthis would be "annihilated."

At least two people were killed in a Russian missile and drone attack on Ukraine's capital Kyiv. Officials said falling debris caused a fire in an apartment building where a mother and her son died.

Explosions have been heard at the Port of Sudan, a critical lifeline and entry point for aid, as attacks on the city continued for a fourth day in the latest confrontation between Sudanese Armed Forces (SAF) and the paramilitary Rapid Support Forces (RSF) in the country's brutal two-year civil war. The attacks have been blamed on the RSF by Sudan's army and by residents. On Wednesday morning, an army source told the AFP news agency on condition of anonymity that the explosion was due to a drone attack that was met with "anti-aircraft missiles". The Port of Sudan on the Red Sea coast had been a haven city hosting hundreds of thousands of displaced people since the war began and serves as an interim seat for Sudan's military-allied government, which has been at war with the RSF since 2023. The attacks on Port Sudan have increased fears of disruptions to desperately needed aid deliveries in the country suffering one of the world's most dire humanitarian crises, and where famine has been declared in some areas.

Reinforcement Learning (RL) has shown great potential in complex control tasks, particularly when combined with deep neural networks within the Actor-Critic (AC) framework. However, in practical applications, balancing exploration, learning stability, and sample efficiency remains a significant challenge. Traditional methods such as Soft Actor-Critic (SAC) and Proximal Policy Optimization (PPO) address these issues by incorporating entropy or relative entropy regularization, but often face problems of instability and low sample efficiency. In this paper, we propose the Conservative Soft Actor-Critic (CSAC) algorithm, which seamlessly integrates entropy and relative entropy regularization within the AC framework. CSAC improves exploration through entropy regularization while avoiding overly aggressive policy updates with the use of relative entropy regularization. Evaluations on benchmark tasks and real-world robotic simulations demonstrate that CSAC offers significant improvements in stability and efficiency over existing methods. These findings suggest that CSAC provides strong robustness and application potential in control tasks under dynamic environments.

Waves of Ukrainian drones have hit Moscow in recent days as the Russian capital prepares for the country's most important national holiday, Victory Day, this week. Russia celebrates May 9 as Victory Day to mark the defeat of Nazi forces in World War II. The day involves a major military parade, with leaders of Russia's allies often in attendance. But this year, the run-up to the day has been clouded by a warning from Ukrainian President Volodymyr Zelenskyy, who has said Kyiv cannot guarantee the safety of the foreign leaders attending the parade in Moscow. Here is more about Ukraine's attacks, Victory Day and why it is significant. Moscow Mayor Sergei Sobyanin said on Tuesday that Russia's air defence systems shot down 19 drones flying towards Moscow from different directions.

Russian attacks on the Donetsk and Sumy regions of eastern Ukraine killed at least three people on Monday, Ukrainian authorities said. A Ukrainian drone attack on a car in Russia's Kursk region killed two women, Governor Alexander Khinstein said in a post on Telegram. He said a 53-year-old man was also killed when an explosive device was dropped onto his car. Russian forces destroyed 105 Ukrainian drones overnight, the RIA Novosti news agency reported, citing the Russian Ministry of Defence. Moscow Mayor Sergei Sobyanin said at least 19 Ukrainian drones were destroyed as the capital was targeted for a second night in a row, prompting the closure of all airports for several hours.

Multiple explosions have been heard and a huge fire seen in Port Sudan, though the exact locations and causes were unclear, as Sudan's civil war rocks the previously quiet city for the third day. Dark plumes of smoke could be seen emerging from the vicinity of the country's main maritime port in the city, where hundreds of thousands of displaced people have sought refuge. Al Jazeera's Hiba Morgan, reporting from the Sudanese capital, Khartoum, said residents in the port city reported that attack drones launched by the paramilitary Rapid Support Forces (RSF) hit a fuel depot and other targets. "According to the residents, they believe that it was drone strikes by the paramilitary Rapid Support Forces – once again. They targeted a fuel depot in the city but also around the port and the air base," Morgan said.

This meant that the student network was predicting highly accurate for some burn locations, but not as accurate for others. Some images in burns such as Willamette V alley are more consistent and have a higher temporal resolution than the Sycan Marsh burn. Additionally, some imagery in FLAME 3 contains views of smoke and trees only, and no visible fire in the image. With a three-channel RGB color image only as input, and no distinct fire colors in the image, it may have proven difficult for the student network to segment the fire region. Some of these difficulties are visualized in Figure 3, rows b - e, reflecting not necessarily poor, but not ideal results. In summary, the overall sporadic nature and no visible flames of some of the burn imagery most likely caused lower quantitative IoU for the fire region (Class 1). Sample visual results for a test image from Willamette V alley for the teachers with DeepLabV3+ student network are shown in Figure 4. Table IV shows testing results with different teacher-student variants of the temperature predictions for the ground truth fire region pixels only.