We propose $\text{GMP}^{3}$, a multiphase global path planning framework that generates dynamically feasible three-dimensional trajectories for unmanned aerial vehicles (UAVs) operating in cluttered environments. The framework extends traditional path planning from Euclidean position spaces to the Lie group $\mathrm{SE}(3)$, allowing joint learning of translational motion and rotational dynamics. A modified Bellman-based operator is introduced to support reinforcement learning (RL) policy updates while leveraging prior trajectory information for improved convergence. $\text{GMP}^{3}$ is designed as a distributed framework in which agents influence each other and share policy information along the trajectory: each agent refines its assigned segment and shares with its neighbors via a consensus-based scheme, enabling cooperative policy updates and convergence toward a path shaped globally even under kinematic constraints. We also propose DroneManager, a modular ground control software that interfaces the planner with real UAV platforms via the MAVLink protocol, supporting real-time deployment and feedback. Simulation studies and indoor flight experiments validate the effectiveness of the proposed method in constrained 3D environments, demonstrating reliable obstacle avoidance and smooth, feasible trajectories across both position and orientation. The open-source implementation is available at https://github.com/Domattee/DroneManager

Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for manipulating the angles of the propeller axes. This addresses the mentioned limitations, making the systems "omniorientational". We comprehensively derived detailed dynamic models for all introduced configurations and validated by a methodology using Simscape Multibody simulations. Two controllers are designed: a sliding mode controller for robust handling of disturbances and a novel PID-based controller with gravity compensation integrating linear and non-linear allocators, designed for computational efficiency. A custom control allocation strategy is implemented to manage the input-non-affine nature of these systems, seeking to maximize battery life by minimizing the "Power Consumption Factor" defined in this study. Moreover, the controllers effectively managed harsh disturbances and uncertainties. Simulations compare and analyze the proposed configurations and controllers, majorly considering their power consumption. Furthermore, we conduct a qualitative comparison to evaluate the impact of different types of uncertainties on the control system, highlighting areas for potential model or hardware improvements. The analysis in this study provides a roadmap for future researchers to design omniorientational drones based on their design objectives, offering practical insights into configuration selection and controller design. This research aligns with the project SAC-1, one of the objectives of Sharif AgRoLab.

Drone-based rapid and accurate environmental edge detection is highly advantageous for tasks such as disaster relief and autonomous navigation. Current methods, using radars or cameras, raise deployment costs and burden lightweight drones with high computational demands. In this paper, we propose AirTouch, a system that transforms the ground effect from a stability "foe" in traditional flight control views, into a "friend" for accurate and efficient edge detection. Our key insight is that analyzing drone basic attitude sensor readings and flight commands allows us to detect ground effect changes. Such changes typically indicate the drone flying over a boundary of two materials, making this information valuable for edge detection. We approach this insight through theoretical analysis, algorithm design, and implementation, fully leveraging the ground effect as a new sensing modality without compromising drone flight stability, thereby achieving accurate and efficient scene edge detection. We also compare this new sensing modality with vision-based methods to clarify its exclusive advantages in resource efficiency and detection capability. Extensive evaluations demonstrate that our system achieves a high detection accuracy with mean detection distance errors of 0.051m, outperforming the baseline method performance by 86%. With such detection performance, our system requires only 43 mW power consumption, contributing to this new sensing modality for low-cost and highly efficient edge detection.

Can Israel survive economic isolation? Why have Spain and Italy sent ships to assist the Gaza Sumud flotilla? Italy and Spain have decided this week to dispatch naval vessels to assist the Global Sumud Flotilla on its way to break Israel's siege of Gaza. The unprecedented move to support a flotilla headed towards the Palestinian enclave comes after repeated attacks against the Sumud Flotilla, including a drone attack early on Wednesday. Israel is widely believed to be behind the attacks.

Flock Safety is pitching its police-style drone program to private businesses. It could bring aerial surveillance to shopping centers, warehouses, and hospitals. Flock Safety, whose drones were once reserved for police departments, is now offering them for private-sector security, the company announced today, with potential customers including including businesses intent on curbing shoplifting. Companies in the US can now place Flock's drone docking stations on their premises. If the company has a waiver from the Federal Aviation Administration to fly beyond visual line of sight (these are becoming easier to get), its security team can fly the drones within a certain radius, often a few miles. "Instead of a 911 call [that triggers the drone], it's an alarm call," says Keith Kauffman, a former police chief who now directs Flock's drone program.

Can Israel survive economic isolation? The activists of the Global Sumud Flotilla remain alert. Wednesday's drone attack on the vessels - heading towards Gaza to break Israel's siege on the Palestinian enclave - is not expected to be the last. As the flotilla, currently travelling in Greek territorial waters, nears Gaza, a larger Israeli attack is expected. Acar is experienced in spotting drones and assessing security risks, having previous experience trying to reach Gaza on June's Madleen flotilla, which Israel intercepted.

A night of drone incidents at airports and military bases all over Jutland, western Denmark, has not caused any harm or damage - and yet it has exposed the country's defences as vulnerable to attack. In an era of hybrid warfare, there is a sense of embarrassment in Denmark - a founding member of the North Atlantic Treaty Organization (Nato) alliance - that its critical infrastructure has become so vulnerable. Aalborg and Billund airports had to close, while drones were spotted at Esbjerg, Sonderborg and Skrydstrup. Aalborg also serves as a military base and Skrydstrup is home to some of the air force's F-35 and F-16 war planes. Drones were also seen over the Jutland Dragoon regiment at Holstebro .

Denmark closed Aalborg airport due to drone activity spotted the second time this week, prompting the country to contact NATO and the European Union.

Can Ukraine restore its pre-war borders? How is Russia replenishing its military? Is Russia testing NATO with aerial incursions in Europe? Denmark was forced to close its northern Aalborg airport on Wednesday when unidentified drones were detected in its airspace. This follows Monday's sighting of drones close to Copenhagen's airport.

Things to Do in L.A. Tap to enable a layout that focuses on the article. Mark Chaney filmed the Serve Robotics device repeatedly swerving into his path. This is read by an automated voice. Please report any issues or inconsistencies here . A collision between a delivery robot and a man using a mobility scooter in West Hollywood received more than 26 million views.