Due to its decentralised, distributed and scalable nature, swarm robotics has great potential for applications ranging from agriculture to environmental monitoring and logistics. Various swarm control methods and algorithms are currently known, such as virtual leader, vector and potential field, and others. Such methods often show good results in specific conditions and tasks. The variety of tasks solved by the swarm requires the development of a universal control algorithm. In this paper, we propose an evolution of a thermal motion equivalent method (TMEM) inspired by the behavioural similarity of thermodynamic interactions between molecules. Previous research has shown the high efficiency of such a method for terrain monitoring tasks. This work addresses the problem of swarm formation of geometric structures, as required for logistics and formation movement tasks. It is shown that the formation of swarm geometric structures using the TMEM is possible with a special nonlinear interaction function of the agents. A piecewise linear interaction function is proposed that allows the formation of a stable group of agents. The results of the paper are validated by numerical modelling of the swarm dynamics. A linear quadrocopter model is considered as an agent. The fairness of the choice of the interaction function is shown.

Developing aerial robots that can both safely navigate and execute assigned mission without any human intervention - i.e., fully autonomous aerial mobility of passengers and goods - is the larger vision that guides the research, design, and development efforts in the aerial autonomy space. However, it is highly challenging to concurrently operationalize all types of aerial vehicles that are operating fully autonomously sharing the airspace. Full autonomy of the aerial transportation sector includes several aspects, such as design of the technology that powers the vehicles, operations of multi-agent fleets, and process of certification that meets stringent safety requirements of aviation sector. Thereby, Autonomous Advanced Aerial Mobility is still a vague term and its consequences for researchers and professionals are ambiguous. To address this gap, we present a comprehensive perspective on the emerging field of autonomous advanced aerial mobility, which involves the use of unmanned aerial vehicles (UAVs) and electric vertical takeoff and landing (eVTOL) aircraft for various applications, such as urban air mobility, package delivery, and surveillance. The article proposes a scalable and extensible autonomy framework consisting of four main blocks: sensing, perception, planning, and controls. Furthermore, the article discusses the challenges and opportunities in multi-agent fleet operations and management, as well as the testing, validation, and certification aspects of autonomous aerial systems. Finally, the article explores the potential of monolithic models for aerial autonomy and analyzes their advantages and limitations. The perspective aims to provide a holistic picture of the autonomous advanced aerial mobility field and its future directions.

This paper presents Swarm-GPT, a system that integrates large language models (LLMs) with safe swarm motion planning-- offering an automated and novel approach to deployable drone swarm choreography. Swarm-GPT enables users to automatically generate synchronized drone performances through natural language instructions. With an emphasis on safety and creativity, Swarm-GPT addresses a critical gap in the field of drone choreography by integrating the creative power of generative models with the effectiveness and safety of model-based planning algorithms. This goal is achieved by prompting the LLM to generate a unique set of waypoints based on extracted audio data. A trajectory planner processes these waypoints to guarantee collision-free and feasible motion. Results can be viewed in simulation prior to execution and modified through dynamic re-prompting. Sim-to-real transfer experiments demonstrate Swarm-GPT's ability to accurately replicate simulated drone trajectories, with a mean sim-to-real root mean square error (RMSE) of 28.7 mm. To date, Swarm-GPT has been successfully showcased at three live events, exemplifying safe real-world deployment of pre-trained models.

Motivated by the advances in deep learning techniques, the application of Unmanned Aerial Vehicle (UAV)-based object detection has proliferated across a range of fields, including vehicle counting, fire detection, and city monitoring. While most existing research studies only a subset of the challenges inherent to UAV-based object detection, there are few studies that balance various aspects to design a practical system for energy consumption reduction. In response, we present the E$^3$-UAV, an edge-based energy-efficient object detection system for UAVs. The system is designed to dynamically support various UAV devices, edge devices, and detection algorithms, with the aim of minimizing energy consumption by deciding the most energy-efficient flight parameters (including flight altitude, flight speed, detection algorithm, and sampling rate) required to fulfill the detection requirements of the task. We first present an effective evaluation metric for actual tasks and construct a transparent energy consumption model based on hundreds of actual flight data to formalize the relationship between energy consumption and flight parameters. Then we present a lightweight energy-efficient priority decision algorithm based on a large quantity of actual flight data to assist the system in deciding flight parameters. Finally, we evaluate the performance of the system, and our experimental results demonstrate that it can significantly decrease energy consumption in real-world scenarios. Additionally, we provide four insights that can assist researchers and engineers in their efforts to study UAV-based object detection further.

After Palmer Luckey founded Anduril in 2017, he promised it would be a new kind of defense contractor, inspired by hacker ingenuity and Silicon Valley speed. The company's latest product, a jet-powered, AI-controlled combat drone called Roadrunner, is inspired by the grim reality of modern conflict, especially in Ukraine, where large numbers of cheap, agile suicide drones have proven highly deadly over the past year. "The problem we saw emerging was this very low-cost, very high-quantity, increasingly sophisticated and advanced aerial threat," says Christian Brose, chief strategy officer at Anduril. This kind of aerial threat has come to define the conflict in Ukraine, where Ukrainian and Russian forces are locked in an arms race involving large numbers of cheap drones capable of loitering autonomously before attacking a target by delivering an explosive payload. These systems, which include US-made Switchblades on the Ukrainian side, can evade jamming and ground defenses and may need to be shot down by either a fighter jet or a missile that costs many times more to use.

Many approaches for optimizing decision making systems rely on gradient based methods requiring informative feedback from the environment. However, in the case where such feedback is sparse or uninformative, such approaches may result in poor performance. Derivative-free approaches such as Bayesian Optimization mitigate the dependency on the quality of gradient feedback, but are known to scale poorly in the high-dimension setting of complex decision making systems. This problem is exacerbated if the system requires interactions between several actors cooperating to accomplish a shared goal. To address the dimensionality challenge, we propose a compact multi-layered architecture modeling the dynamics of actor interactions through the concept of role. We introduce Hessian-aware Bayesian Optimization to efficiently optimize the multi-layered architecture parameterized by a large number of parameters, and give the first improved regret bound in additive high-dimensional Bayesian Optimization since Mutny & Krause (2018). Our approach shows strong empirical results under malformed or sparse reward.

This study delves into the flight behaviors of Budgerigars (Melopsittacus undulatus) to gain insights into their flight trajectories and movements. Using 3D reconstruction from stereo video camera recordings, we closely examine the velocity and acceleration patterns during three flight motion takeoff, flying and landing. The findings not only contribute to our understanding of bird behaviors but also hold significant implications for the advancement of algorithms in Unmanned Aerial Vehicles (UAVs). The research aims to bridge the gap between biological principles observed in birds and the application of these insights in developing more efficient and autonomous UAVs. In the context of the increasing use of drones, this study focuses on the biologically inspired principles drawn from bird behaviors, particularly during takeoff, flying and landing flight, to enhance UAV capabilities. The dataset created for this research sheds light on Budgerigars' takeoff, flying, and landing techniques, emphasizing their ability to control speed across different situations and surfaces. The study underscores the potential of incorporating these principles into UAV algorithms, addressing challenges related to short-range navigation, takeoff, flying, and landing.

Route planning for a fleet of vehicles is an important task in applications such as package delivery, surveillance, or transportation. This problem is usually modeled as a Combinatorial Optimization problem named as Team Orienteering Problem. The most popular Team Orienteering Problem solvers are mainly based on either linear programming, which provides accurate solutions by employing a large computation time that grows with the size of the problem, or heuristic methods, which usually find suboptimal solutions in a shorter amount of time. In this paper, a multi-agent route planning system capable of solving the Team Orienteering Problem in a very fast and accurate manner is presented. The proposed system is based on a centralized Transformer neural network that can learn to encode the scenario (modeled as a graph) and the context of the agents to provide fast and accurate solutions. Several experiments have been performed to demonstrate that the presented system can outperform most of the state-of-the-art works in terms of computation speed. In addition, the code is publicly available at http://gti.ssr.upm.es/data.

To keep as FFHQ dataset (image size 1024 1024). Nouveau VAE the Metaverse up-to-date, uplink data collection for object (NVAE) proposed by Vahdat et al. [10] further improved the modeling and updating are essential for VR applications. The performance of VAE and achieved satisfying results on various efficiency of data transmission has a direct impact on user high-quality image datasets. Li et al. [11] found that devices experience once there are demands to update the VR background, can select different scales of sub-models that requires less which is different from the traditional VR applications computational energy at the cost of reconstruction quality, and whose contents are not frequently updated. The 3-D modeling formulated the relationship between them. of remote area VR backgrounds including buildings (indoor and outdoor), roads, and natural environments are based on To cope with the challenge of wireless network coverage numerous photos taken on location, e.g., more than 1500 in remote areas, UAV-assisted data collection is considered as images with the average size of 10Mb are required to model a practical solution to set up flexible wireless networks for an area with historic buildings [?]. The data collection with heterogeneous user requirements [?], especially the research such large size poses requirements for both high transmission on UAV-enabled communication resource allocation, trajectory efficiency and wide network coverage.

An efficient method for next-best-view (NBV) estimation with high accuracy in the case of the limited camera field of view (FOV) was proposed. Abstract: Fusion of three-dimensional (3D) and multispectral (MS) imaging data has a great potential for high-throughput plant phenotyping of structural and biochemical as well as physiological traits simultaneously, which is important for decision support in agriculture and for crop breeders in selecting the best genotypes. However, lacking of 3D data integrity of various plant canopy structures and low-quality of MS images caused by the complex illumination effects make a great challenge, especially at the proximal imaging scale. Therefore, this study proposed a novel approach for adaptive data acquisition and radiometric calibration to generate high-quality 3D multispectral point clouds (3DMPCs) of plants. An efficient next-best-view (NBV) planning method based on an unmanned ground vehicle (UGV) plant phenotyping system with a multisensor-equipped robotic arm was proposed to achieve adaptive data acquisition. The neural reference field (NeREF) was employed to predict the digital number (DN) values of the hemispherical reference for radiometric calibration. For NBV planning, the average total time for single plant at a joint speed of 1.55 rad/s was about 62.8 s, with an average reduction of 18.0% compared to the unplanned. The integrity of the wholeplant data was improved by an average of 23.6% compared to the fixed viewpoints alone. Compared with the ASD measurements, the average root mean square error (RMSE) of the reflectance spectra obtained from 3DMPCs at different regions of interest was 0.08 with an average decrease of 58.93% compared to the results obtained from the single-frame of MS images without 3D radiometric calibration. The 3Dcalibrated plant 3DMPCs improved the predictive accuracy of partial least squares regression (PLSR) for chlorophyll content, with an average increase of 0.07 in the coefficient of determination (R Our approach introduced a fresh perspective on generating high-quality 3DMPCs of plants under the natural light condition, enabling more precise analysis of plant morphological and physiological parameters. Keywords: adaptive data acquisition; 3DMPC; NBV planning; radiometric calibration; NeREF; chlorophyll content 1. Introduction High-throughput plant phenotyping provides an unprecedented way to systematically evaluate plant development and functionality with the precise quantification of morphological, physiological, biochemical, and performance traits over the whole growth period. It can help on decision support in agriculture, for ecological diversity studies, and for crop breeding in the selection of superior genotypes to improve crop performance, and thus revolutionize the agriculture and breeding strategies to meet the future need of agricultural sustainable development (Freschet et al. 2018; Hu and Schmidhalter 2023).