Figure 1 shows the error analysis for three object detectors, namely, Faster-RCNN, YOLOv5, and DeTR.

Abstract--The integration of Unmanned Aerial V ehicles (UA Vs) and Unmanned Ground V ehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and logistics. However, precise coordination between these platforms in real-time scenarios presents major challenges, particularly when external localization infrastructure such as GPS or GNSS is unavailable or degraded [1]. This paper proposes a vision-based, data-driven framework for real-time UA V-UGV integration, with a focus on robust UGV detection and heading angle prediction for navigation and coordination. The system employs a fine-tuned YOLOv5 model to detect UGVs and extract bounding box features, which are then used by a lightweight artificial neural network (ANN) to estimate the UA V's required heading angle. A VICON motion capture system was used to generate ground-truth data during training, resulting in a dataset of over 13,000 annotated images collected in a controlled lab environment. The trained ANN achieves a mean absolute error of 0.1506 and a root mean squared error of 0.1957, offering accurate heading angle predictions using only monocular camera inputs. Experimental evaluations achieve 95% accuracy in UGV detection. This work contributes a vision-based, infrastructure-independent solution that demonstrates strong potential for deployment in GPS/GNSS-denied environments, supporting reliable multi-agent coordination under realistic dynamic conditions. A demonstration video showcasing the system's real-time performance, including UGV detection, heading angle prediction, and UA V alignment under dynamic conditions, is available at: https://github.com/Kooroshraf/UA HE integration of Unmanned Aerial V ehicles (UA Vs) and Unmanned Ground V ehicles (UGVs) has emerged as a powerful paradigm in multi-agent systems, offering significant advantages for surveillance, search and rescue, precision agriculture, and autonomous logistics [2]. UA Vs provide agility and a wide field of view, while UGVs offer stable ground-level interaction and payload capacity.

This study examines the effectiveness of spatio-temporal modeling and the integration of spatial attention mechanisms in deep learning models for underwater object detection. Specifically, in the first phase, the performance of temporal-enhanced YOLOv5 variant T-YOLOv5 is evaluated, in comparison with the standard YOLOv5. For the second phase, an augmented version of T-YOLOv5 is developed, through the addition of a Convolutional Block Attention Module (CBAM). By examining the effectiveness of the already pre-existing YOLOv5 and T-YOLOv5 models and of the newly developed T-YOLOv5 with CBAM. With CBAM, the research highlights how temporal modeling improves detection accuracy in dynamic marine environments, particularly under conditions of sudden movements, partial occlusions, and gradual motion. The testing results showed that YOLOv5 achieved a mAP@50-95 of 0.563, while T-YOLOv5 and T-YOLOv5 with CBAM outperformed with mAP@50-95 scores of 0.813 and 0.811, respectively, highlighting their superior accuracy and generalization in detecting complex objects. The findings demonstrate that T-YOLOv5 significantly enhances detection reliability compared to the standard model, while T-YOLOv5 with CBAM further improves performance in challenging scenarios, although there is a loss of accuracy when it comes to simpler scenarios.

This paper presents a comprehensive overview of the Ultralytics YOLO(You Only Look Once) family of object detectors, focusing the architectural evolution, benchmarking, deployment perspectives, and future challenges. The review begins with the most recent release, YOLO26 (or YOLOv26), which introduces key innovations including Distribution Focal Loss (DFL) removal, native NMS-free inference, Progressive Loss Balancing (ProgLoss), Small-Target-Aware Label Assignment (STAL), and the MuSGD optimizer for stable training. The progression is then traced through YOLO11, with its hybrid task assignment and efficiency-focused modules; YOLOv8, which advanced with a decoupled detection head and anchor-free predictions; and YOLOv5, which established the modular PyTorch foundation that enabled modern YOLO development. Benchmarking on the MS COCO dataset provides a detailed quantitative comparison of YOLOv5, YOLOv8, YOLO11, and YOLO26 (YOLOv26), alongside cross-comparisons with YOLOv12, YOLOv13, RT-DETR, and DEIM(DETR with Improved Matching). Metrics including precision, recall, F1 score, mean Average Precision, and inference speed are analyzed to highlight trade-offs between accuracy and efficiency. Deployment and application perspectives are further discussed, covering export formats, quantization strategies, and real-world use in robotics, agriculture, surveillance, and manufacturing. Finally, the paper identifies challenges and future directions, including dense-scene limitations, hybrid CNN-Transformer integration, open-vocabulary detection, and edge-aware training approaches. (Object Detection, YOLOv26, YOLO)

Figure 1 shows the error analysis for three object detectors, namely, Faster-RCNN, YOLOv5, and DeTR.

Abstract--In Kigali, Rwanda, motorcycle taxis are a primary mode of transportation, often navigating unpredictably and disregarding traffic rules, posing significant challenges for autonomous driving systems. This study compares four object detection models--YOLOv5, Faster R-CNN, SSD, and RetinaNet--for motorbike detection using a custom dataset of 198 images collected in Kigali. Implemented in PyT orch with transfer learning, the models were evaluated for accuracy, localization, and inference speed to assess their suitability for real-time navigation in resource-constrained settings. We identify implementation challenges, including dataset limitations and model complexities, and recommend simplified architectures for future work to enhance accessibility for autonomous systems in developing countries like Rwanda. In developing countries like Rwanda, motorcycle taxis, locally known as "moto taxis," dominate urban transportation, particularly in Kigali.

Autonomous driving and V2X technologies have developed rapidly in the past decade, leading to improved safety and efficiency in modern transportation. These systems interact with extensive networks of vehicles, roadside infrastructure, and cloud resources to support their machine learning capabilities. However, the widespread use of machine learning in V2X systems raises issues over the privacy of the data involved. This is particularly concerning for smart-transit and driver safety applications which can implicitly reveal user locations or explicitly disclose medical data such as EEG signals. To resolve these issues, we propose SecureV2X, a scalable, multi-agent system for secure neural network inferences deployed between the server and each vehicle. Under this setting, we study two multi-agent V2X applications: secure drowsiness detection, and secure red-light violation detection. Our system achieves strong performance relative to baselines, and scales efficiently to support a large number of secure computation interactions simultaneously. For instance, SecureV2X is $9.4 \times$ faster, requires $143\times$ fewer computational rounds, and involves $16.6\times$ less communication on drowsiness detection compared to other secure systems. Moreover, it achieves a runtime nearly $100\times$ faster than state-of-the-art benchmarks in object detection tasks for red light violation detection.

Extended reality technologies are transforming fields such as healthcare, entertainment, and education, with Smart Eye-Wears (SEWs) and Artificial Intelligence (AI) playing a crucial role. However, SEWs face inherent limitations in computational power, memory, and battery life, while offloading computations to external servers is constrained by network conditions and server workload variability. To address these challenges, we propose a Federated Reinforcement Learning (FRL) framework, enabling multiple agents to train collaboratively while preserving data privacy. We implemented synchronous and asynchronous federation strategies, where models are aggregated either at fixed intervals or dynamically based on agent progress. Experimental results show that federated agents exhibit significantly lower performance variability, ensuring greater stability and reliability. These findings underscore the potential of FRL for applications requiring robust real-time AI processing, such as real-time object detection in SEWs.

Automatic Target Detection (ATD) and Recognition (ATR) from Thermal Infrared (TI) imagery in the defense and surveillance domain is a challenging computer vision (CV) task in comparison to the commercial autonomous vehicle perception domain. Limited datasets, peculiar domain-specific and TI modality-specific challenges, i.e., limited hardware, scale invariance issues due to greater distances, deliberate occlusion by tactical vehicles, lower sensor resolution and resultant lack of structural information in targets, effects of weather, temperature, and time of day variations, and varying target to clutter ratios all result in increased intra-class variability and higher inter-class similarity, making accurate real-time ATR a challenging CV task. Resultantly, contemporary state-of-the-art (SOTA) deep learning architectures underperform in the ATR domain. We propose a modified anchor-based single-stage detector, called YOLOatr, based on a modified YOLOv5s, with optimal modifications to the detection heads, feature fusion in the neck, and a custom augmentation profile. We evaluate the performance of our proposed model on a comprehensive DSIAC MWIR dataset for real-time ATR over both correlated and decorrelated testing protocols. The results demonstrate that our proposed model achieves state-of-the-art ATR performance of up to 99.6%.

Safety-critical driving data is crucial for developing safe and trustworthy self-driving algorithms. Due to the scarcity of safety-critical data in naturalistic datasets, current approaches primarily utilize simulated or artificially generated images. However, there remains a gap in authenticity between these generated images and naturalistic ones. We propose a novel framework to augment the safety-critical driving data from the naturalistic dataset to address this issue. In this framework, we first detect vehicles using YOLOv5, followed by depth estimation and 3D transformation to simulate vehicle proximity and critical driving scenarios better. This allows for targeted modification of vehicle dynamics data to reflect potentially hazardous situations. Compared to the simulated or artificially generated data, our augmentation methods can generate safety-critical driving data with minimal compromise on image authenticity. Experiments using KITTI datasets demonstrate that a downstream self-driving algorithm trained on this augmented dataset performs superiorly compared to the baselines, which include SMOGN and importance sampling.