Vision-based perception tasks fulfill a paramount role in robotics, facilitating solutions to many challenging scenarios, such as acrobatics maneuvers of autonomous unmanned aerial vehicles (UAVs) and robot-assisted high precision surgery. Most control-oriented and egocentric perception problems are commonly solved by taking advantage of the robot state estimation as an auxiliary input, particularly when artificial intelligence comes into the picture. In this work, we propose to apply a similar approach for the first time - to the best of our knowledge - to allocentric perception tasks, where the target variables refer to an external subject. We prove how our general and intuitive methodology improves the regression performance of deep convolutional neural networks (CNNs) with ambiguous problems such as the allocentric 3D pose estimation. By analyzing three highly-different use cases, spanning from grasping with a robotic arm to following a human subject with a pocket-sized UAV, our results consistently improve the R2 metric up to +0.514 compared to their stateless baselines. Finally, we validate the in-field performance of a closed-loop autonomous pocket-sized UAV in the human pose estimation task. Our results show a significant reduction, i.e., 24% on average, on the mean absolute error of our stateful CNN.

Air transportation is essential for society, and it is increasing gradually due to its importance. To improve the airspace operation, new technologies are under development, such as Unmanned Aircraft Systems (UAS). In fact, in the past few years, there has been a growth in UAS numbers in segregated airspace. However, there is an interest in integrating these aircraft into the National Airspace System (NAS). The UAS is vital to different industries due to its advantages brought to the airspace (e.g., efficiency). Conversely, the relationship between UAS and Air Traffic Control (ATC) needs to be well-defined due to the impacts on ATC capacity these aircraft may present. Throughout the years, this impact may be lower than it is nowadays because the current lack of familiarity in this relationship contributes to higher workload levels. Thereupon, the primary goal of this research is to present a comprehensive review of the advancements in the integration of UAS in the National Airspace System (NAS) from different perspectives. We consider the challenges regarding simulation, final approach, and optimization of problems related to the interoperability of such systems in the airspace. Finally, we identify several open challenges in the field based on the existing state-of-the-art proposals.

We are looking for a highly motivated candidate who holds a Master of Science in Geography, Geology, Archaeology or Natural Sciences. You will be required to carry out fieldwork in the Bolivian Amazon and travel there for a period of 2 to 3 months during the dry seasons (July - October) of 2023 and 2024. The field work will involve flying a drone with a LIDAR over approx. Back in Barcelona your work will focus on building a database of the archaeological sites, calculating the volume of each site and analysing their patterns and properties. You are expected to publish at least 3 papers in well-known scientific journals by the end of the 4 yrs position.

Unmanned aerial vehicles (UAVs) have the potential to establish flexible and reliable emergency networks in disaster sites when terrestrial communication infrastructures go down. Nevertheless, potential security threats may occur on UAVs during data transmissions due to the untrusted environment and open-access UAV networks. Moreover, UAVs typically have limited battery and computation capacity, making them unaffordable for heavy security provisioning operations when performing complicated rescue tasks. In this paper, we develop RescueChain, a secure and efficient information sharing scheme for UAV-assisted disaster rescue. Specifically, we first implement a lightweight blockchain-based framework to safeguard data sharing under disasters and immutably trace misbehaving entities. A reputation-based consensus protocol is devised to adapt the weakly connected environment with improved consensus efficiency and promoted UAVs' honest behaviors. Furthermore, we introduce a novel vehicular fog computing (VFC)-based off-chain mechanism by leveraging ground vehicles as moving fog nodes to offload UAVs' heavy data processing and storage tasks. To offload computational tasks from the UAVs to ground vehicles having idle computing resources, an optimal allocation strategy is developed by choosing payoffs that achieve equilibrium in a Stackelberg game formulation of the allocation problem. For lack of sufficient knowledge on network model parameters and users' private cost parameters in practical environment, we also design a two-tier deep reinforcement learning-based algorithm to seek the optimal payment and resource strategies of UAVs and vehicles with improved learning efficiency. Simulation results show that RescueChain can effectively accelerate consensus process, improve offloading efficiency, reduce energy consumption, and enhance user payoffs.

On Saturday, October 29, a Russian fleet on the Black Sea near Sevastopol was attacked by 16 drones--nine in the air and seven in the water. Purportedly launched by Ukraine, no one knows how much damage was done, but video shot by the attacking drones showed that the vessels were unable to avoid being hit. In response to that and other successful attacks, Russia has retaliated with scores of missiles and Iranian-built Shahed-136 drones aimed at electrical and water systems throughout Ukraine. Despite daily reports of lands taken or lands liberated in the nine-month war, the conflict has been largely fought in the air, with artillery shells, rockets, cruise missiles, and, increasingly, drones. Small, cheap, relatively slow-moving, carrying far less of a wallop than a cruise missile or a 500-pound bomb, the Shaheds in particular have bedeviled Ukraine's otherwise excellent air defenses.

Compared with model-based control and optimization methods, reinforcement learning (RL) provides a data-driven, learning-based framework to formulate and solve sequential decision-making problems. The RL framework has become promising due to largely improved data availability and computing power in the aviation industry. Many aviation-based applications can be formulated or treated as sequential decision-making problems. Some of them are offline planning problems, while others need to be solved online and are safety-critical. In this survey paper, we first describe standard RL formulations and solutions. Then we survey the landscape of existing RL-based applications in aviation. Finally, we summarize the paper, identify the technical gaps, and suggest future directions of RL research in aviation.

The US Army tested drones to deliver medical supplies during dangerous battlefield scenarios to wounded warriors. During a recent training exercise in California led by the US with militaries of other nations, drones dropped simulated blood and other crucial medical supplies to soldiers as part of Project Crimson. This type of technology would be deployed in circumstances where it wouldn't be safe to send people on foot for help. The drone is a vertical landing and take-off aircraft, so it does not need a runway or catapult launch to perform this life-saving missions, according to the Army. That feature allows soldiers to preserve life in the early phase immediately after an injury and help to facilitate transportation to an Army hospital.

The Mozambique National Institute for Disaster Management and Risk Reduction (INGD) and World Food Programme (WFP) built the case for drones' capacity to give all responders an accurate picture of cyclone damage and flooding extent. Two back-to-back cyclones battered Mozambique in 2019, destroying more than 800,000 hectares of farmland during harvest season. The devastation to crops and livelihoods left nearly two million people facing acute food insecurity. The United Nations (UN) World Food Programme (WFP) responded quickly, with two helicopters to ferry supplies and rescue stranded people. Given flooded roads, the air support was crucial but not nearly enough to distribute food and find stranded people across such a wide area of impact.

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance of continuum manipulators. To achieve this goal, we present the novel design of a compact, lightweight, and modular cable-driven continuum manipulator for aerial drones. We then derive a complete modeling framework for its kinematics, statics, and stiffness (compliance). The modeling framework can guide the control and design problems to integrate the manipulator to aerial drones. In addition, thanks to the derived stiffness (compliance) matrix, and using a low-cost IMU sensor to capture deformation angles, we present a simple method to estimate manipulation force at the tip of the manipulator. We report preliminary experimental validations of the hardware prototype, providing insights on its manipulation feasibility. We also report preliminary results of the IMU-based force estimation method.

This paper reviews vision-based localization methods in GPS-denied environments and classifies the mainstream methods into Relative Vision Localization (RVL) and Absolute Vision Localization (AVL). For RVL, we discuss the broad application of optical flow in feature extraction-based Visual Odometry (VO) solutions and introduce advanced optical flow estimation methods. For AVL, we review recent advances in Visual Simultaneous Localization and Mapping (VSLAM) techniques, from optimization-based methods to Extended Kalman Filter (EKF) based methods. We also introduce the application of offline map registration and lane vision detection schemes to achieve Absolute Visual Localization. This paper compares the performance and applications of mainstream methods for visual localization and provides suggestions for future studies.