Uncrewed Aerial Vehicles (UAVs) are a leading choice of platforms for a variety of information-gathering applications. Sensor planning can enhance the efficiency and success of these types of missions when coupled with a higher-level informative path-planning algorithm. This paper aims to address these data acquisition challenges by developing an informative non-myopic sensor planning framework for a single-axis gimbal coupled with an informative path planner to maximize information gain over a prior information map. This is done by finding reduced sensor sweep bounds over a planning horizon such that regions of higher confidence are prioritized. This novel sensor planning framework is evaluated against a predefined sensor sweep and no sensor planning baselines as well as validated in two simulation environments. In our results, we observe an improvement in the performance by 21.88% and 13.34% for the no sensor planning and predefined sensor sweep baselines respectively.

The development of the sixth generation (6G) of wireless networks is bound to streamline the transition of computation and learning towards the edge of the network. Hierarchical federated learning (HFL) becomes, therefore, a key paradigm to distribute learning across edge devices to reach global intelligence. In HFL, each edge device trains a local model using its respective data and transmits the updated model parameters to an edge server for local aggregation. The edge server, then, transmits the locally aggregated parameters to a central server for global model aggregation. The unreliability of communication channels at the edge and backhaul links, however, remains a bottleneck in assessing the true benefit of HFL-empowered systems. To this end, this paper proposes an unbiased HFL algorithm for unmanned aerial vehicle (UAV)-assisted wireless networks that counteracts the impact of unreliable channels by adjusting the update weights during local and global aggregations at UAVs and terrestrial base stations (BS), respectively. To best characterize the unreliability of the channels involved in HFL, we adopt tools from stochastic geometry to determine the success probabilities of the local and global model parameter transmissions. Accounting for such metrics in the proposed HFL algorithm aims at removing the bias towards devices with better channel conditions in the context of the considered UAV-assisted network.. The paper further examines the theoretical convergence guarantee of the proposed unbiased UAV-assisted HFL algorithm under adverse channel conditions. One of the developed approach's additional benefits is that it allows for optimizing and designing the system parameters, e.g., the number of UAVs and their corresponding heights. The paper results particularly highlight the effectiveness of the proposed unbiased HFL scheme as compared to conventional FL and HFL algorithms.

Mobility-on-demand (MOD) services have the potential to significantly improve the adaptiveness and recovery of urban systems, in the wake of disruptive events. But there lacks a comprehensive review on using MOD services for such purposes in addition to serving regular travel demand. This paper presents a review that suggests a noticeable increase within recent years on this topic across four main areas - resilient MOD services, novel usage of MOD services for improving infrastructure and community resilience, empirical impact evaluation, and enabling and augmenting technologies. The review shows that MOD services have been utilized to support anomaly detection, essential supply delivery, evacuation and rescue, on-site medical care, power grid stabilization, transit service substitution during downtime, and infrastructure and equipment repair. Such a versatility suggests a comprehensive assessment framework and modeling methodologies for evaluating system design alternatives that simultaneously serve different purposes. The review also reveals that integrating suitable technologies, business models, and long-term planning efforts offers significant synergistic benefits.

Mr Graetz, a pilot with 12 years' experience, founded Aerolane with Gur Kimchi, a veteran of Amazon's drone delivery project, on the basis that "there has got to be a better way to get more out of existing aircraft". The project has raised eyebrows among experienced pilots. Flying large gliders in commercial airspace means meeting strict flight safety regulations. For instance, the towing aircraft has to be confident it can release the tow line at any point in the flight, safe in the knowledge that the auto-piloted glider can make it down to a runway without dropping on top of the local population. Aerolane says a small electric motor driving a propeller will act as a safety net on their cargo gliders, giving them enough juice to go around again if a landing looks wrong or to divert to another location close by.

The Lebanese armed group Hezbollah has launched more than 200 rockets and attack drones into northern Israel, in response to the killing of one of its senior commanders. Israel's military said one of its officers was killed in the barrage, which started a number of fires. The military also said it had targeted Hezbollah "military structures" and other targets in southern Lebanon in response. Lebanese media reported that one person was killed in an Israeli drone strike in the town of Houla. The latest barrage, which followed one comprising 100 rockets on Wednesday afternoon, was one of the biggest so far in the nine months of cross-border violence which have raised fears of an all-out war.

This report introduces a solution to The task of RGB-TIR object detection from the perspective of unmanned aerial vehicles. Unlike traditional object detection methods, RGB-TIR object detection aims to utilize both RGB and TIR images for complementary information during detection. The challenges of RGB-TIR object detection from the perspective of unmanned aerial vehicles include highly complex image backgrounds, frequent changes in lighting, and uncalibrated RGB-TIR image pairs. To address these challenges at the model level, we utilized a lightweight YOLOv9 model with extended multi-level auxiliary branches that enhance the model's robustness, making it more suitable for practical applications in unmanned aerial vehicle scenarios. For image fusion in RGB-TIR detection, we incorporated a fusion module into the backbone network to fuse images at the feature level, implicitly addressing calibration issues. Our proposed method achieved an mAP score of 0.516 and 0.543 on A and B benchmarks respectively while maintaining the highest inference speed among all models.

Abstract-- This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, into an over-actuated flight structure with improved dynamic properties. Previous research efforts either utilized expert knowledge to design flight structures for a specific task or relied on enumeration-based algorithms that required extensive computation to find an optimal one. Additionally, we employ a tree representation and a vector representation to describe flight structures, facilitating efficient crossover operations and fitness evaluations within the GA framework, respectively. Using cubic modular quadcopters capable of functioning as omni-directional thrust generators, we validate that the proposed approach can (i) adeptly identify suboptimal configurations Figure 1: The optimal structure configuration with five modular ensuring over-actuation while ensuring trajectory UAVs with different installed equipment. Each module is tracking accuracy and (ii) significantly reduce computational equipped with either a manipulator, an RGBD camera, a Lidar, costs compared to traditional enumeration-based methods.

Russia says it destroyed two Ukrainian sea drones targeting the Black Sea port of Novorossiysk, a key naval base and oil shipping outlet. The Ministry of Defence in Moscow said on Wednesday that Russian forces had destroyed the naval drones as they advanced on the port in an overnight attack. Ukraine has reported success in targeting Russian ships and infrastructure in the Black Sea over recent months. "Two unmanned boats travelling in the direction of Novorossiysk were destroyed in the waters of the Black Sea," the ministry said in a post on Telegram. The attack caused no damage or shipping disruptions, the local city administration reported, according to Russian state news agencies.

This letter investigates the problem of controlling an aerial manipulator, composed of an omnidirectional tilting drone equipped with a five-degrees-of-freedom robotic arm. The robot has to interact with the environment to inspect structures and perform non-destructive measurements. A parallel force-impedance control technique is developed to establish contact with the designed surface with a desired force profile. During the interaction, a pushing phase is required to create a vacuum between the surface and the echometer sensor mounted at the end-effector, to measure the thickness of the interaction surface. Repetitive measures are performed to show the repeatability of the algorithm.

Abstract: A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and mapping (SLAM) is feasible for high-end robotic platforms, whereas small and inexpensive robots face challenges due to constrained hardware, therefore frequently resorting to external infrastructure for sensing and computation. The challenge is further exacerbated in swarms of robots, where coordination, scalability, and latency are crucial concerns. This work introduces a decentralized and lightweight collaborative SLAM approach that enables mapping on virtually any robot, even those equipped with low-cost hardware, including miniaturized insect-size devices. Moreover, the proposed solution supports large swarm formations with the capability to coordinate hundreds of agents. To substantiate our claims, we have successfully implemented collaborative SLAM on centimeter-size drones weighing only 46 grams. Remarkably, we achieve results comparable to high-end state-ofthe-art solutions while reducing the cost, memory, and computation requirements by two orders of magnitude. Our approach is innovative in three main aspects. First, it enables onboard infrastructure-less collaborative mapping with a lightweight and cost-effective solution in terms of sensing and computation. Second, we optimize the data traffic within the swarm to support hundreds of cooperative agents using standard wireless protocols such as ultra-wideband (UWB), Bluetooth, or WiFi. Last, we implement a distributed swarm coordination policy to decrease mapping latency and enhance accuracy. INTRODUCTION Nowadays, swarms of autonomous robots find applications in many sectors, from industry to civil markets, including biomedical and healthcare (1, 2). Key tasks such as perception or mapping can be carried out more effectively and at lower latency by a swarm than by a single agent (3). However, the design of a collaboration scheme between the agents of a swarm is still an unsolved challenge in many robotics applications (2).