This paper presents the design, modeling, and experimental validation of CapsuleBot, a compact hybrid aerial-ground vehicle designed for long-term covert reconnaissance. CapsuleBot combines the manoeuvrability of bicopter in the air with the energy efficiency and noise reduction of ground vehicles on the ground. To accomplish this, a structure named actuated-wheel-rotor has been designed, utilizing a sole motor for both the unilateral rotor tilting in the bicopter configuration and the wheel movement in ground mode. CapsuleBot comes equipped with two of these structures, enabling it to attain hybrid aerial-ground propulsion with just four motors. Importantly, the decoupling of motion modes is achieved without the need for additional drivers, enhancing the versatility and robustness of the system. Furthermore, we have designed the full dynamics and control for aerial and ground locomotion based on the bicopter model and the two-wheeled self-balancing vehicle model. The performance of CapsuleBot has been validated through experiments. The results demonstrate that CapsuleBot produces 40.53% less noise in ground mode and consumes 99.35% less energy, highlighting its potential for long-term covert reconnaissance applications.

Over the months, Kyiv's operations have grown in sophistication, from a drone attack in August 2022 which destroyed an estimated nine Russian aircraft at the Saky air base, to the combined drone and missile attacks of today.

Russian President Vladimir Putin and Belarusian President Alexander Lukashenko discussed whether Minsk might join Moscow's efforts to revive an alliance with North Korea, following Kim Jong Un's visit to Russia this week. Finland will prohibit the entry of vehicles with Russian licence plates as of midnight on Saturday, following Estonia, Latvia and Lithuania, which have also recently barred all Russian-registered cars from crossing their borders. Romania has imposed additional flight restrictions in parts of its air space along the border with Ukraine amid a surge in Russian drone attacks on nearby Ukrainian Danube river ports. Russian President Vladimir Putin and Belarusian President Alexander Lukashenko discussed whether Minsk might join Moscow's efforts to revive an alliance with North Korea, following Kim Jong Un's visit to Russia this week. Finland will prohibit the entry of vehicles with Russian licence plates as of midnight on Saturday, following Estonia, Latvia and Lithuania, which have also recently barred all Russian-registered cars from crossing their borders.

We introduce a new approach to address the task allocation problem in a system of heterogeneous robots comprising of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or \textbf{G}raph \textbf{A}ttention \textbf{T}ask \textbf{A}llocato\textbf{R} aggregates information from neighbors in the multi-robot system, with the aim of achieving joint optimality in the target localization efficiency.Being decentralized, our method is highly robust and adaptable to situations where collaborators may change over time, ensuring the continuity of the mission. We also proposed heterogeneity-aware preprocessing to let all the different types of robots collaborate with a uniform model.The experimental results demonstrate the effectiveness and scalability of the proposed approach in a range of simulated scenarios. The model can allocate targets' positions close to the expert algorithm's result, with a median spatial gap less than a unit length. This approach can be used in multi-robot systems deployed in search and rescue missions, environmental monitoring, and disaster response.

In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of the gates, simply rendering drone racing a waypoint-passing task. This formulation often leads to a conservative choice of paths through the gates, as the spatial potential of the gates is not fully utilized. To address this issue, we present a time-optimal planner that can faithfully model gate constraints with various configurations and thereby generate a more time-efficient trajectory while considering the single-rotor-thrust limits. Our approach excels in computational efficiency which only takes a few seconds to compute the full state and control trajectories of the drone through tracks with dozens of different gates. Extensive simulations and experiments confirm the effectiveness of the proposed methodology, showing that the lap time can be further reduced by taking into account the gate's configuration. We validate our planner in real-world flights and demonstrate super-extreme flight trajectory through race tracks.

With the advanced request to employ a team of robots to perform a task collaboratively, the research community has become increasingly interested in collaborative simultaneous localization and mapping. Unfortunately, existing datasets are limited in the scale and variation of the collaborative trajectories, even though generalization between inter-trajectories among different agents is crucial to the overall viability of collaborative tasks. To help align the research community's contributions with realistic multiagent ordinated SLAM problems, we propose S3E, a large-scale multimodal dataset captured by a fleet of unmanned ground vehicles along four designed collaborative trajectory paradigms. S3E consists of 7 outdoor and 5 indoor sequences that each exceed 200 seconds, consisting of well temporal synchronized and spatial calibrated high-frequency IMU, high-quality stereo camera, and 360 degree LiDAR data. Crucially, our effort exceeds previous attempts regarding dataset size, scene variability, and complexity. It has 4x as much average recording time as the pioneering EuRoC dataset. We also provide careful dataset analysis as well as baselines for collaborative SLAM and single counterparts. Data and more up-to-date details are found at https://github.com/PengYu-Team/S3E.

On August 28th, the Deputy Secretary of Defense, Kathleen Hicks, announced what she called the Replicator initiative--an all-hands-on-deck effort to modernize the American arsenal by adding fleets of artificially intelligent, unmanned, relatively cheap weapons and equipment. She described these machines as "attritable," meaning that they can suffer attrition without compromising a mission. Imagine a swarm of hundreds or even thousands of unmanned aerial drones, communicating with each other as they collect intelligence on enemy-troop movements, and you will begin to understand the Deputy Secretary's vision for Replicator. Even if a sizable number of the drones were shot down, the information they'd gathered would have already been recorded and sent back to human operators on the ground. In one sense, Hicks's announcement, during an address titled "The Urgency to Innovate" at a meeting of National Defense Industrial Association, did not signal a wholly new approach.

Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been developed, it is still possible for drones to collide with unobserved obstacles due to unpredictable disturbances, sensor limitations, and control uncertainty. Instead of completely avoiding collisions, this article proposes Air Bumper, a collision detection and reaction framework, for fully autonomous flight in 3D environments to improve the safety of drones. Our framework only utilizes the onboard inertial measurement unit (IMU) to detect and estimate collisions. We further design a collision recovery control for rapid recovery and collision-aware mapping to integrate collision information into general LiDAR-based sensing and planning frameworks. Our simulation and experimental results show that the quadrotor can rapidly detect, estimate, and recover from collisions with obstacles in 3D space and continue the flight smoothly with the help of the collision-aware map. Our Air Bumper will be released as open-source software on GitHub.

The United States military has resumed operations in Niger, flying drones and other aircraft out of airbases in the country more than a month after a coup halted activities, the head of Air Forces in Europe and Air Forces Africa said. Since the July coup that removed President Mohamed Bazoum, the approximately 1,100 US soldiers deployed in the West African country have been confined to their military bases. General James Hecker said on Wednesday that negotiations with the military rulers of Niger resulted in some intelligence and surveillance missions resuming. "For a while, we weren't doing any missions on the bases, they pretty much closed down the airfields," Hecker told reporters at the annual Air and Space Forces Association convention. "Through the diplomatic process, we are now doing, I wouldn't say 100 percent of the missions that we were doing before, but we're doing a large amount of missions that we're doing before," he said.

Unmanned Aerial Vehicles (UAVs) have gained significant prominence in recent years for areas including surveillance, search, rescue, and package delivery. One key aspect in UAV operations shared across all these tasks is the autonomous path planning, which enables UAV to navigate through complex, unknown, and dynamic environments while avoiding obstacles without human control. Despite countless efforts having been devoted to this subject, new challenges are constantly arisen due to the persistent trade-off between performance and cost. And new studies are more urgently needed to develop autonomous system for UAVs with parsimonious sensor setup, which is a major need for wider adoptions. To this end, we propose an end-to-end autonomous framework to enable UAVs with only one single 2D-LiDAR sensor to operate in unknown dynamic environments. More specifically, we break our approach into three stages: a pre-processing Map Constructor; an offline Mission Planner; and an online reinforcement learning (RL)-based Dynamic Obstacle Handler. Experiments show that our approach provides robust and reliable dynamic path planning and obstacle avoidance with only 1/10 of the cost in sensor configuration. The code will be made public upon acceptance.