Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees l...Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.展开更多
In response to the challenges faced by unmanned swarms in mountain obstacle-breaching missions within complex terrains,such as poor task-resource coupling,lengthy solution generation times,and poor inter-platform coll...In response to the challenges faced by unmanned swarms in mountain obstacle-breaching missions within complex terrains,such as poor task-resource coupling,lengthy solution generation times,and poor inter-platform collaboration,an unmanned swarm scheduling strategy tailored is proposed for mountain obstacle-breaching missions.Initially,by formalizing the descriptions of obstacle breaching operations,the swarm,and obstacle targets,an optimization model is constructed with the objectives of expected global benefit,timeliness,and task completion degree.A meta-task decomposition and reassembly strategy is then introduced to more precisely match the capabilities of unmanned platforms with task requirements.Additionally,a meta-task decomposition optimization model and a meta-task allocation operator are incorporated to achieve efficient allocation of swarm resources and collaborative scheduling.Simulation results demonstrate that the model can accurately generate reasonable and feasible obstacle breaching execution plans for unmanned swarms based on specific task requirements and environmental conditions.Moreover,compared to conventional strategies,the proposed strategy enhances task completion degree and expected returns while reducing the execution time of the plans.展开更多
Cascading failures pose a serious threat to the survivability of underwater unmanned swarm networks(UUSNs),significantly limiting their service ability in collaborative missions such as military reconnaissance and env...Cascading failures pose a serious threat to the survivability of underwater unmanned swarm networks(UUSNs),significantly limiting their service ability in collaborative missions such as military reconnaissance and environmental monitoring.Existing failure models primarily focus on power grids and traffic systems,and don't address the unique challenges of weak-communication UUSNs.In UUSNs,cascading failure present a complex and dynamic process driven by the coupling of unstable acoustic channels,passive node drift,adversarial attacks,and network heterogeneity.To address these challenges,a directed weighted graph model of UUSNs is first developed,in which node positions are updated according to ocean-current-driven drift and link weights reflect the probability of successful acoustic transmission.Building on this UUSNs graph model,a cascading failure model is proposed that integrates a normal-failure-recovery state-cycle mechanism,multiple attack strategies,and routingbased load redistribution.Finally,under a five-level connectivity UUSNs scheme,simulations are conducted to analyze how dynamic topology,network load,node recovery delay,and attack modes jointly affect network survivability.The main findings are:(1)moderate node drift can improve survivability by activating weak links;(2)based-energy routing(BER)outperform based-depth routing(BDR)in harsh conditions;(3)node self-recovery time is critical to network survivability;(4)traditional degree-based critical node metrics are inadequate for weak-communication UUSNs.These results provide a theoretical foundation for designing robust survivability mechanisms in weak-communication UUSNs.展开更多
With the continuous advancement of unmanned technology in various application domains,the development and deployment of blind-spot-free panoramic video systems have gained increasing importance.Such systems are partic...With the continuous advancement of unmanned technology in various application domains,the development and deployment of blind-spot-free panoramic video systems have gained increasing importance.Such systems are particularly critical in battlefield environments,where advanced panoramic video processing and wireless communication technologies are essential to enable remote control and autonomous operation of unmanned ground vehicles(UGVs).However,conventional video surveillance systems suffer from several limitations,including limited field of view,high processing latency,low reliability,excessive resource consumption,and significant transmission delays.These shortcomings impede the widespread adoption of UGVs in battlefield settings.To overcome these challenges,this paper proposes a novel multi-channel video capture and stitching system designed for real-time video processing.The system integrates the Speeded-Up Robust Features(SURF)algorithm and the Fast Library for Approximate Nearest Neighbors(FLANN)algorithm to execute essential operations such as feature detection,descriptor computation,image matching,homography estimation,and seamless image fusion.The fused panoramic video is then encoded and assembled to produce a seamless output devoid of stitching artifacts and shadows.Furthermore,H.264 video compression is employed to reduce the data size of the video stream without sacrificing visual quality.Using the Real-Time Streaming Protocol(RTSP),the compressed stream is transmitted efficiently,supporting real-time remote monitoring and control of UGVs in dynamic battlefield environments.Experimental results indicate that the proposed system achieves high stability,flexibility,and low latency.With a wireless link latency of 30 ms,the end-to-end video transmission latency remains around 140 ms,enabling smooth video communication.The system can tolerate packet loss rates(PLR)of up to 20%while maintaining usable video quality(with latency around 200 ms).These properties make it well-suited for mobile communication scenarios demanding high real-time video performance.展开更多
To conduct marine surveys,multiple unmanned surface vessels(Multi-USV)with different capabilities perform collaborative mapping in multiple designated areas.This paper proposes a task allocation algorithm based on int...To conduct marine surveys,multiple unmanned surface vessels(Multi-USV)with different capabilities perform collaborative mapping in multiple designated areas.This paper proposes a task allocation algorithm based on integer linear programming(ILP)with flow balance constraints,ensuring the fair and efficient distribution of sub-areas among USVs and maintaining strong connectivity of assigned regions.In the established gridmap,a search-based path planning algorithm is performed on the sub-areas according to the allocation scheme.It uses the greedy algorithm and the A*algorithm to achieve complete coverage of the barrier-free area and obtain an efficient trajectory of each USV.The greedy algorithm enables fast local traversal of unvisited grids,while the A*algorithm ensures navigation to escape from deadlock areas and maintains global path continuity.The comparison of task allocation results proves that the task allocation algorithm based on ILP improves the mapping efficiency and task distribution fairness.The proposed allocation method and result analysis provide a certain reference for the practical application ofMulti-USV to perform survey tasks collaboratively.展开更多
Dear Editor,This letter investigates the problem of multi-dimension formation tracking(MDFT)for the cross-domain unmanned systems,including several interconnected agents,namely,unmanned aerial vehicles(UAVs)and unmann...Dear Editor,This letter investigates the problem of multi-dimension formation tracking(MDFT)for the cross-domain unmanned systems,including several interconnected agents,namely,unmanned aerial vehicles(UAVs)and unmanned surface vehicles(USVs).We assume that each agent suffers from by the mixed constraints on its velocity,control input and Euler angle.Solving the MDFT problem implies that 1)The virtual state of each USV is determined in the earth coordinate by expanding its 2D work space to the 3D space.展开更多
Unmanned aerial vehicles(UAVs)have become crucial tools in moving target tracking due to their agility and ability to operate in complex,dynamic environments.UAVs must meet several requirements to achieve stable track...Unmanned aerial vehicles(UAVs)have become crucial tools in moving target tracking due to their agility and ability to operate in complex,dynamic environments.UAVs must meet several requirements to achieve stable tracking,including maintaining continuous target visibility amidst occlusions,ensuring flight safety,and achieving smooth trajectory planning.This paper reviews the latest advancements in UAV-based target tracking,highlighting information prediction,tracking strategies,and swarm cooperation.To address challenges including target visibility and occlusion,real-time prediction and tracking in dynamic environments,flight safety and coordination,resource management and energy efficiency,the paper identifies future research directions aimed at improving the performance,reliability,and scalability of UAV tracking system.展开更多
A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source di...A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.展开更多
This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial institutions.One of these AI technologies is using efficient and secure multi-environment Un...Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial institutions.One of these AI technologies is using efficient and secure multi-environment Unmanned Vehicles(UVs)for anti-submarine attacks.This study’s contribution is the early detection of a submarine assault employing hybrid environment UVs that are controlled using swarm optimization and secure the information in between UVs using a decentralized cybersecurity strategy.The Dragonfly Algorithm is used for the orientation and clustering of the UVs in the optimization approach,and the Re-fragmentation strategy is used in the Network layer of the TCP/IP protocol as a cybersecurity solution.The research’s noteworthy findings demonstrate UVs’logistical capability to promptly detect the target and address the problem while securely keeping the drone’s geographical information.The results suggest that detecting the submarine early increases the likelihood of averting a collision.The dragonfly strategy of sensing the position of the submersible and aggregating around it demonstrates the reliability of swarm intelligence in increasing access efficiency.Securing communication between Unmanned Aerial Vehicles(UAVs)improves the level of secrecy necessary for the task.The swarm navigation is based on a peer-to-peer system,which allows each UAV to access information from its peers.This,in turn,helps the UAVs to determine the best route to take and to avoid collisions with other UAVs.The dragonfly strategy also increases the speed of the mission by minimizing the time spent finding the target.展开更多
Unmanned Aerial Vehicles(UAVs)are increasingly recognized for their pivotal role in military and civilian applications,serving as essential technology for transmitting,evaluating,and gathering information.Unfortunatel...Unmanned Aerial Vehicles(UAVs)are increasingly recognized for their pivotal role in military and civilian applications,serving as essential technology for transmitting,evaluating,and gathering information.Unfortunately,this crucial process often occurs through unsecured wireless connections,exposing it to numerous cyber-physical attacks.Furthermore,UAVs’limited onboard computing resources make it challenging to perform complex cryptographic operations.The main aim of constructing a cryptographic scheme is to provide substantial security while reducing the computation and communication costs.This article introduces an efficient and secure cross-domain Authenticated Key Agreement(AKA)scheme that uses Hyperelliptic Curve Cryptography(HECC).The HECC,a modified version of ECC with a smaller key size of 80 bits,is well-suited for use in UAVs.In addition,the proposed scheme is employed in a cross-domain environment that integrates a Public Key Infrastructure(PKI)at the receiving end and a Certificateless Cryptosystem(CLC)at the sending end.Integrating CLC with PKI improves network security by restricting the exposure of encryption keys only to the message’s sender and subsequent receiver.A security study employing ROM and ROR models,together with a comparative performance analysis,shows that the proposed scheme outperforms comparable existing schemes in terms of both efficiency and security.展开更多
Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to co...Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.展开更多
The use of unmanned aerial system(UAS)in congested airspace and/or in the proximity of critical infrastructure poses several challenges as far as safe and secure operations are concerned.The paper provides a detailed ...The use of unmanned aerial system(UAS)in congested airspace and/or in the proximity of critical infrastructure poses several challenges as far as safe and secure operations are concerned.The paper provides a detailed description of the architecture and workflow of a platform for UAS traffic management(UTM),designed to pave the way for increased,improved and safer UAS operations in the civil airspace.In particular,access to low-altitude airspace for UAS operations is managed,while facilitating the implementation of beyond visual line-of-sight(BVLOS)operations,and ensuring a safe and efficient integration of UAS into both controlled and uncontrolled airspace.Detection and management of unidentified or uncooperative UAS’s is also taken care of.To this end,an architecture based on three interacting layers is proposed,with the air traffic control at the highest level,the UAS operator(s)at the bottom,and a UAS service supplier acting as an interface.The platform,with its physical and digital elements,guarantees the effective and efficient interaction among these three layers,including management of contingency scenarios,which require a variation of admissible flight volumes for UAS operations and/or fast trajectory re-planning.The platform,developed within a research project which involved several partners,was tested in a relevant operational scenario at the Grottaglie-Taranto airport in Italy.The operators involved in the tests provided positive feedback on the services provided by the platform and the usability of the interfaces,while also making suggestions for adding new features in future developments.展开更多
Unmanned surface vehicles(USVs)play a crucial role in various fields,including ocean climate change monitoring,ma-rine resource exploitation,and ecological environment exploration.Out of the many types of USVs,unmanne...Unmanned surface vehicles(USVs)play a crucial role in various fields,including ocean climate change monitoring,ma-rine resource exploitation,and ecological environment exploration.Out of the many types of USVs,unmanned sailboats have gained considerable attention for their ability to conduct green,large-scale ocean observations.Building on this concept,this paper proposes an unmanned sailboat propelled by parallel dual-wing sails,which is designed to meet the demands of extensive and three-dimensional marine comprehensive observation and data collection.With a focus on the parallel dual-wing sails,this study particularly investi-gates the effects of variations in the airfoil’s angle of attack and the impact of the spacing ratio between the dual sails on propulsion performance.It further analyzes the influence of one sail’s angle of attack on the performance of the other sail,as well as the flow field between the two sails.For the air navigation and underwater states,the force characteristics of the dual sail under different inflow velocities were investigated.The research findings indicate that,under certain conditions,the thrust coefficient exhibits a trend of first increasing,then decreasing,and finally increasing again with alterations in the angle of attackα.Different single-sail angles of attack have varying impacts on the opposite sail and the flow field between the dual sails.Moreover,the generated forces are positively correlated with inflow velocity in the air navigation and underwater states.The findings reveal that it is possible to reduce drag,mitigate the adverse effects of sail interaction,and thereby enhance the propulsion performance and overall navigational stability of the sailboat by applying an optimal spacing ratio design and adjusting the angle of attack and inflow velocity.展开更多
The exploration of unmanned aerial vehicle(UAV)swarm systems represents a focal point in the research of multiagent systems,with the investigation of their fission-fusion behavior holding significant theoretical and p...The exploration of unmanned aerial vehicle(UAV)swarm systems represents a focal point in the research of multiagent systems,with the investigation of their fission-fusion behavior holding significant theoretical and practical value.This review systematically examines the methods for fission-fusion of UAV swarms from the perspective of multi-agent systems,encompassing the composition of UAV swarm systems and fission-fusion conditions,information interaction mechanisms,and existing fission-fusion approaches.Firstly,considering the constituent units of UAV swarms and the conditions influencing fission-fusion,this paper categorizes and introduces the UAV swarm systems.It further examines the effects and limitations of fission-fusion methods across various categories and conditions.Secondly,a comprehensive analysis of the prevalent information interaction mechanisms within UAV swarms is conducted from the perspective of information interaction structures.The advantages and limitations of various mechanisms in the context of fission-fusion behaviors are summarized and synthesized.Thirdly,this paper consolidates the existing implementation research findings related to the fission-fusion behavior of UAV swarms,identifies unresolved issues in fission-fusion research,and discusses potential solutions.Finally,the paper concludes with a comprehensive summary and systematically outlines future research opportunities.展开更多
[Objectives]To investigate the effects of silicon fertilizer spraying on the growth,yield,quality,and overall benefits of rice cultivation.[Methods]A systematic experiment involving the single-spray multi-promotion te...[Objectives]To investigate the effects of silicon fertilizer spraying on the growth,yield,quality,and overall benefits of rice cultivation.[Methods]A systematic experiment involving the single-spray multi-promotion technology of silicon fertilizer via unmanned aerial vehicles(UAVs)was conducted in three representative rice-growing areas:Ma'an Town,Shuikou Subdistrict,and Luzhou Town.[Results]The spraying of silicon fertilizer markedly enhanced the root development of rice,resulting in increased tiller number,plant height,stem thickness,panicle length,and 1000-grain weight,thereby effectively improving both yield and quality.This treatment exerted six primary beneficial effects:promoting robust and stable seedling growth,enhancing stress resistance,reducing reliance on chemical fertilizers,improving quality,increasing economic benefits,and significantly advancing ecological and social benefits.[Conclusions]The application of silicon fertilizer through spraying is an effective agronomic practice that simultaneously promotes increased rice yield,improved quality,enhanced efficiency,and the sustainable development of resources and the environment.展开更多
This paper investigates the power generation characteristics of solar cells mounted on unmanned aerial vehicles(UAVs)under the coupled influence of flight conditions and the sur-rounding environment.Firstly,the study ...This paper investigates the power generation characteristics of solar cells mounted on unmanned aerial vehicles(UAVs)under the coupled influence of flight conditions and the sur-rounding environment.Firstly,the study reveals that the voltage,current,and power output of the solar cells undergo consistent temporal variations throughout the day,primarily driven by voltage fluctuations,with a peak occurring around noon.Secondly,it is observed that the cells’performance is significantly more influenced by temporal variations in external light intensity than by temperature changes resulting from variations in flight speed.Finally,the study finds that the impact of flight altitude on the cells’performance is slightly more pronounced than the influence of temporal variations in external light intensity.展开更多
As advancements in the Internet of Things(IoT)and unmanned technologies continues to progress,the development of unmanned system of systems(USS)has reached unprecedented levels.While prior research has predominantly e...As advancements in the Internet of Things(IoT)and unmanned technologies continues to progress,the development of unmanned system of systems(USS)has reached unprecedented levels.While prior research has predominantly examined temporal variations in USS resilience,spatial changes remain underexplored.However,USS may involve kinetic engagements and frequent spatial changes during mission execution,affecting signal interference in data layer communications.Although time-dependent factors primarily govern mission effectiveness of the USS,spatial factors influence the transmission stability of the data layer.Consequently,assessing spatiotemporal variations in USS performance is critical.To address these challenges,this study introduces a spatiotemporal resilience assessment framework,which evaluates USS resilience across both temporal and spatial dimensions.Furthermore,we propose a spatiotemporal resilience optimization scheme that enhances system adaptability throughout the mission lifecycle,with a particular emphasis on prevention and recovery strategies.Finally,we validate the validity of the proposed concepts and methods with a case study featuring a regular hexagonal deployment of USS.The results show that the spatiotemporal resilience can better reflect the spatial change characteristics of USS,and the proposed optimization strategy improves the prevention spatiotemporal resilience,recovery spatiotemporal resilience,and entire-process spatiotemporal resilience of USS by 0.22%,8.39%,and 11.29%,respectively.展开更多
When performing tasks,unmanned clusters often face a variety of strategy choices.One of the key issues in unmanned cluster tasks is the method through which to design autonomous collaboration and cooperative evolution...When performing tasks,unmanned clusters often face a variety of strategy choices.One of the key issues in unmanned cluster tasks is the method through which to design autonomous collaboration and cooperative evolution mechanisms that allow for unmanned clusters to maximize their overall task effective-ness under the condition of strategic diversity.This paper ana-lyzes these task requirements from three perspectives:the diver-sity of the decision space,information network construction,and the autonomous collaboration mechanism.Then,this paper pro-poses a method for solving the problem of strategy selection diversity under two network structures.Next,this paper presents a Moran-rule-based evolution dynamics model for unmanned cluster strategies and a vision-driven-mechanism-based evolu-tion dynamics model for unmanned cluster strategy in the con-text of strategy selection diversity according to various unmanned cluster application scenarios.Finally,this paper pro-vides a simulation analysis of the effects of relevant parameters such as the payoff factor and cluster size on cooperative evolu-tion in autonomous cluster collaboration for the two types of models.On this basis,this paper presents advice for effectively addressing diverse choices in unmanned cluster tasks,thereby providing decision support for practical applications of unmanned cluster tasks.展开更多
To achieve the track following and collision avoidance of underactuated unmanned surface vehicle(USV),autonomous navigation model based on model predictive control is established by including the track offset,speed va...To achieve the track following and collision avoidance of underactuated unmanned surface vehicle(USV),autonomous navigation model based on model predictive control is established by including the track offset,speed variation and rule compliance as the evaluation functions and including the ship domain of dynamic/static navigation obstacles and the mechanical characteristics limitation as constraints.The effectiveness of the model for autonomous navigation of USV in the situation of multi-ship encounters and in the complex waters with both dynamic and static obstructions is verified by several groups of simulation work.The simulation results show that the proposed model can realize the autonomous navigation of the underactuated USV under the complex waters.展开更多
基金supported in part by 14th Five Year National Key R&D Program Project(Project Number:2023YFB3211001)the National Natural Science Foundation of China(62273339,U24A201397).
文摘Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.
基金supported by the National Natural Science Foundation of China(61374186)。
文摘In response to the challenges faced by unmanned swarms in mountain obstacle-breaching missions within complex terrains,such as poor task-resource coupling,lengthy solution generation times,and poor inter-platform collaboration,an unmanned swarm scheduling strategy tailored is proposed for mountain obstacle-breaching missions.Initially,by formalizing the descriptions of obstacle breaching operations,the swarm,and obstacle targets,an optimization model is constructed with the objectives of expected global benefit,timeliness,and task completion degree.A meta-task decomposition and reassembly strategy is then introduced to more precisely match the capabilities of unmanned platforms with task requirements.Additionally,a meta-task decomposition optimization model and a meta-task allocation operator are incorporated to achieve efficient allocation of swarm resources and collaborative scheduling.Simulation results demonstrate that the model can accurately generate reasonable and feasible obstacle breaching execution plans for unmanned swarms based on specific task requirements and environmental conditions.Moreover,compared to conventional strategies,the proposed strategy enhances task completion degree and expected returns while reducing the execution time of the plans.
基金supported in part by the National Natural Science Foundation of China(Key Program)under Grant No.62031021。
文摘Cascading failures pose a serious threat to the survivability of underwater unmanned swarm networks(UUSNs),significantly limiting their service ability in collaborative missions such as military reconnaissance and environmental monitoring.Existing failure models primarily focus on power grids and traffic systems,and don't address the unique challenges of weak-communication UUSNs.In UUSNs,cascading failure present a complex and dynamic process driven by the coupling of unstable acoustic channels,passive node drift,adversarial attacks,and network heterogeneity.To address these challenges,a directed weighted graph model of UUSNs is first developed,in which node positions are updated according to ocean-current-driven drift and link weights reflect the probability of successful acoustic transmission.Building on this UUSNs graph model,a cascading failure model is proposed that integrates a normal-failure-recovery state-cycle mechanism,multiple attack strategies,and routingbased load redistribution.Finally,under a five-level connectivity UUSNs scheme,simulations are conducted to analyze how dynamic topology,network load,node recovery delay,and attack modes jointly affect network survivability.The main findings are:(1)moderate node drift can improve survivability by activating weak links;(2)based-energy routing(BER)outperform based-depth routing(BDR)in harsh conditions;(3)node self-recovery time is critical to network survivability;(4)traditional degree-based critical node metrics are inadequate for weak-communication UUSNs.These results provide a theoretical foundation for designing robust survivability mechanisms in weak-communication UUSNs.
基金supported by the National Natural Science Foundation of China(Grant No.72334003)the National Key Research and Development Program of China(Grant No.2022YFB2702804)+1 种基金the Shandong Key Research and Development Program(Grant No.2020ZLYS09)the Jinan Program(Grant No.2021GXRC084-2).
文摘With the continuous advancement of unmanned technology in various application domains,the development and deployment of blind-spot-free panoramic video systems have gained increasing importance.Such systems are particularly critical in battlefield environments,where advanced panoramic video processing and wireless communication technologies are essential to enable remote control and autonomous operation of unmanned ground vehicles(UGVs).However,conventional video surveillance systems suffer from several limitations,including limited field of view,high processing latency,low reliability,excessive resource consumption,and significant transmission delays.These shortcomings impede the widespread adoption of UGVs in battlefield settings.To overcome these challenges,this paper proposes a novel multi-channel video capture and stitching system designed for real-time video processing.The system integrates the Speeded-Up Robust Features(SURF)algorithm and the Fast Library for Approximate Nearest Neighbors(FLANN)algorithm to execute essential operations such as feature detection,descriptor computation,image matching,homography estimation,and seamless image fusion.The fused panoramic video is then encoded and assembled to produce a seamless output devoid of stitching artifacts and shadows.Furthermore,H.264 video compression is employed to reduce the data size of the video stream without sacrificing visual quality.Using the Real-Time Streaming Protocol(RTSP),the compressed stream is transmitted efficiently,supporting real-time remote monitoring and control of UGVs in dynamic battlefield environments.Experimental results indicate that the proposed system achieves high stability,flexibility,and low latency.With a wireless link latency of 30 ms,the end-to-end video transmission latency remains around 140 ms,enabling smooth video communication.The system can tolerate packet loss rates(PLR)of up to 20%while maintaining usable video quality(with latency around 200 ms).These properties make it well-suited for mobile communication scenarios demanding high real-time video performance.
基金supported in part by the International Science and Technology Project of Guangzhou Development District under Grant 2023GH08the Science and Technology Development Fund,MSAR,under Grants 0029/2022/AGJ and 0029/2023/RIA1the Program of Guangdong under Grant 2023A0505020003.
文摘To conduct marine surveys,multiple unmanned surface vessels(Multi-USV)with different capabilities perform collaborative mapping in multiple designated areas.This paper proposes a task allocation algorithm based on integer linear programming(ILP)with flow balance constraints,ensuring the fair and efficient distribution of sub-areas among USVs and maintaining strong connectivity of assigned regions.In the established gridmap,a search-based path planning algorithm is performed on the sub-areas according to the allocation scheme.It uses the greedy algorithm and the A*algorithm to achieve complete coverage of the barrier-free area and obtain an efficient trajectory of each USV.The greedy algorithm enables fast local traversal of unvisited grids,while the A*algorithm ensures navigation to escape from deadlock areas and maintains global path continuity.The comparison of task allocation results proves that the task allocation algorithm based on ILP improves the mapping efficiency and task distribution fairness.The proposed allocation method and result analysis provide a certain reference for the practical application ofMulti-USV to perform survey tasks collaboratively.
基金supported in part by the National Natural Science Foundation of China(62073301,62373162,62473349,U24A20268,62233007)the Shenzhen Science and Technology Program(JCYJ20240813114007010).
文摘Dear Editor,This letter investigates the problem of multi-dimension formation tracking(MDFT)for the cross-domain unmanned systems,including several interconnected agents,namely,unmanned aerial vehicles(UAVs)and unmanned surface vehicles(USVs).We assume that each agent suffers from by the mixed constraints on its velocity,control input and Euler angle.Solving the MDFT problem implies that 1)The virtual state of each USV is determined in the earth coordinate by expanding its 2D work space to the 3D space.
基金financial support provided by the Natural Science Foundation of Hunan Province of China(Grant No.2021JJ10045)the Open Research Subject of State Key Laboratory of Intelligent Game(Grant No.ZBKF-24-01)+1 种基金the Postdoctoral Fellowship Program of CPSF(Grant No.GZB20240989)the China Postdoctoral Science Foundation(Grant No.2024M754304)。
文摘Unmanned aerial vehicles(UAVs)have become crucial tools in moving target tracking due to their agility and ability to operate in complex,dynamic environments.UAVs must meet several requirements to achieve stable tracking,including maintaining continuous target visibility amidst occlusions,ensuring flight safety,and achieving smooth trajectory planning.This paper reviews the latest advancements in UAV-based target tracking,highlighting information prediction,tracking strategies,and swarm cooperation.To address challenges including target visibility and occlusion,real-time prediction and tracking in dynamic environments,flight safety and coordination,resource management and energy efficiency,the paper identifies future research directions aimed at improving the performance,reliability,and scalability of UAV tracking system.
基金co-supported by the National Key R&D Program of China(No.2023YFB4704400)the Zhejiang Provincial Natural Science Foundation of China(No.LQ24F030012)the National Natural Science Foundation of China General Project(No.62373033)。
文摘A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
基金This work was funded by the research center of the Future University in Egypt,in 2023.
文摘Utilizing artificial intelligence(AI)to protect smart coastal cities has become a novel vision for scientific and industrial institutions.One of these AI technologies is using efficient and secure multi-environment Unmanned Vehicles(UVs)for anti-submarine attacks.This study’s contribution is the early detection of a submarine assault employing hybrid environment UVs that are controlled using swarm optimization and secure the information in between UVs using a decentralized cybersecurity strategy.The Dragonfly Algorithm is used for the orientation and clustering of the UVs in the optimization approach,and the Re-fragmentation strategy is used in the Network layer of the TCP/IP protocol as a cybersecurity solution.The research’s noteworthy findings demonstrate UVs’logistical capability to promptly detect the target and address the problem while securely keeping the drone’s geographical information.The results suggest that detecting the submarine early increases the likelihood of averting a collision.The dragonfly strategy of sensing the position of the submersible and aggregating around it demonstrates the reliability of swarm intelligence in increasing access efficiency.Securing communication between Unmanned Aerial Vehicles(UAVs)improves the level of secrecy necessary for the task.The swarm navigation is based on a peer-to-peer system,which allows each UAV to access information from its peers.This,in turn,helps the UAVs to determine the best route to take and to avoid collisions with other UAVs.The dragonfly strategy also increases the speed of the mission by minimizing the time spent finding the target.
文摘Unmanned Aerial Vehicles(UAVs)are increasingly recognized for their pivotal role in military and civilian applications,serving as essential technology for transmitting,evaluating,and gathering information.Unfortunately,this crucial process often occurs through unsecured wireless connections,exposing it to numerous cyber-physical attacks.Furthermore,UAVs’limited onboard computing resources make it challenging to perform complex cryptographic operations.The main aim of constructing a cryptographic scheme is to provide substantial security while reducing the computation and communication costs.This article introduces an efficient and secure cross-domain Authenticated Key Agreement(AKA)scheme that uses Hyperelliptic Curve Cryptography(HECC).The HECC,a modified version of ECC with a smaller key size of 80 bits,is well-suited for use in UAVs.In addition,the proposed scheme is employed in a cross-domain environment that integrates a Public Key Infrastructure(PKI)at the receiving end and a Certificateless Cryptosystem(CLC)at the sending end.Integrating CLC with PKI improves network security by restricting the exposure of encryption keys only to the message’s sender and subsequent receiver.A security study employing ROM and ROR models,together with a comparative performance analysis,shows that the proposed scheme outperforms comparable existing schemes in terms of both efficiency and security.
基金supported by the National Natural Science Foundation of China(62406345).
文摘Developing intelligent unmanned swarm systems(IUSSs)is a highly intricate process.Although current simulators and toolchains have made a notable contribution to the develop-ment of algorithms for IUSSs,they tend to concentrate on iso-lated technical elements and are deficient in addressing the full spectrum of critical technologies and development needs in a systematic and integrative manner.Furthermore,the current suite of tools has not adequately addressed the challenge of bridging the gap between simulation and real-world deployment of algorithms.Therefore,a comprehensive solution must be developed that encompasses the entire IUSS development life-cycle.In this study,we present the RflySim ToolChain,which has been developed with the specific aim of facilitating the rapid development and validation of IUSSs.The RflySim ToolChain employs a model-based design(MBD)approach,integrating a modeling and simulation module,a lower reliable control mo-dule,and an upper swarm decision-making module.This compre-hensive integration encompasses the entire process,from mo-deling and simulation to testing and deployment,thereby enabling users to rapidly construct and validate IUSSs.The prin-cipal advantages of the RflySim ToolChain are as follows:it pro-vides a comprehensive solution that meets the full-stack devel-opment needs of IUSSs;the highly modular architecture and comprehensive software development kit(SDK)facilitate the automation of the entire IUSS development process.Further-more,the high-fidelity model design and reliable architecture solution ensure a seamless transition from simulation to real-world deployment,which is known as the simulation to reality(Sim2Real)process.This paper presents a series of case stu-dies that illustrate the effectiveness of the RflySim ToolChain in supporting the research and application of IUSSs.
基金supported by the European Union and Italian Ministry of University and Research through the call PON Research and Innovation 2014-2020,Axis Ⅱ,Action 2,project AcrOSS(Environment for Safe Operations of Remotely Piloted Aircraft),project number ARS01_00702-CUP:F36C18000210005.
文摘The use of unmanned aerial system(UAS)in congested airspace and/or in the proximity of critical infrastructure poses several challenges as far as safe and secure operations are concerned.The paper provides a detailed description of the architecture and workflow of a platform for UAS traffic management(UTM),designed to pave the way for increased,improved and safer UAS operations in the civil airspace.In particular,access to low-altitude airspace for UAS operations is managed,while facilitating the implementation of beyond visual line-of-sight(BVLOS)operations,and ensuring a safe and efficient integration of UAS into both controlled and uncontrolled airspace.Detection and management of unidentified or uncooperative UAS’s is also taken care of.To this end,an architecture based on three interacting layers is proposed,with the air traffic control at the highest level,the UAS operator(s)at the bottom,and a UAS service supplier acting as an interface.The platform,with its physical and digital elements,guarantees the effective and efficient interaction among these three layers,including management of contingency scenarios,which require a variation of admissible flight volumes for UAS operations and/or fast trajectory re-planning.The platform,developed within a research project which involved several partners,was tested in a relevant operational scenario at the Grottaglie-Taranto airport in Italy.The operators involved in the tests provided positive feedback on the services provided by the platform and the usability of the interfaces,while also making suggestions for adding new features in future developments.
基金supported from the Shandong Provincial Natural Science Foundation(No.ZR2022ME147)the National Natural Science Foundation of China(No.52088102).
文摘Unmanned surface vehicles(USVs)play a crucial role in various fields,including ocean climate change monitoring,ma-rine resource exploitation,and ecological environment exploration.Out of the many types of USVs,unmanned sailboats have gained considerable attention for their ability to conduct green,large-scale ocean observations.Building on this concept,this paper proposes an unmanned sailboat propelled by parallel dual-wing sails,which is designed to meet the demands of extensive and three-dimensional marine comprehensive observation and data collection.With a focus on the parallel dual-wing sails,this study particularly investi-gates the effects of variations in the airfoil’s angle of attack and the impact of the spacing ratio between the dual sails on propulsion performance.It further analyzes the influence of one sail’s angle of attack on the performance of the other sail,as well as the flow field between the two sails.For the air navigation and underwater states,the force characteristics of the dual sail under different inflow velocities were investigated.The research findings indicate that,under certain conditions,the thrust coefficient exhibits a trend of first increasing,then decreasing,and finally increasing again with alterations in the angle of attackα.Different single-sail angles of attack have varying impacts on the opposite sail and the flow field between the dual sails.Moreover,the generated forces are positively correlated with inflow velocity in the air navigation and underwater states.The findings reveal that it is possible to reduce drag,mitigate the adverse effects of sail interaction,and thereby enhance the propulsion performance and overall navigational stability of the sailboat by applying an optimal spacing ratio design and adjusting the angle of attack and inflow velocity.
基金supported by the National Natural Science Foundation of China(U20B2042).
文摘The exploration of unmanned aerial vehicle(UAV)swarm systems represents a focal point in the research of multiagent systems,with the investigation of their fission-fusion behavior holding significant theoretical and practical value.This review systematically examines the methods for fission-fusion of UAV swarms from the perspective of multi-agent systems,encompassing the composition of UAV swarm systems and fission-fusion conditions,information interaction mechanisms,and existing fission-fusion approaches.Firstly,considering the constituent units of UAV swarms and the conditions influencing fission-fusion,this paper categorizes and introduces the UAV swarm systems.It further examines the effects and limitations of fission-fusion methods across various categories and conditions.Secondly,a comprehensive analysis of the prevalent information interaction mechanisms within UAV swarms is conducted from the perspective of information interaction structures.The advantages and limitations of various mechanisms in the context of fission-fusion behaviors are summarized and synthesized.Thirdly,this paper consolidates the existing implementation research findings related to the fission-fusion behavior of UAV swarms,identifies unresolved issues in fission-fusion research,and discusses potential solutions.Finally,the paper concludes with a comprehensive summary and systematically outlines future research opportunities.
基金Supported by Huizhou Municipal Stable Grain and Oil Production Award and Subsidy Project"2025 Single-spray Multi-Promotion Project of Silicon Fertilizer on Rice Crops Using UAVs of Huicheng District".
文摘[Objectives]To investigate the effects of silicon fertilizer spraying on the growth,yield,quality,and overall benefits of rice cultivation.[Methods]A systematic experiment involving the single-spray multi-promotion technology of silicon fertilizer via unmanned aerial vehicles(UAVs)was conducted in three representative rice-growing areas:Ma'an Town,Shuikou Subdistrict,and Luzhou Town.[Results]The spraying of silicon fertilizer markedly enhanced the root development of rice,resulting in increased tiller number,plant height,stem thickness,panicle length,and 1000-grain weight,thereby effectively improving both yield and quality.This treatment exerted six primary beneficial effects:promoting robust and stable seedling growth,enhancing stress resistance,reducing reliance on chemical fertilizers,improving quality,increasing economic benefits,and significantly advancing ecological and social benefits.[Conclusions]The application of silicon fertilizer through spraying is an effective agronomic practice that simultaneously promotes increased rice yield,improved quality,enhanced efficiency,and the sustainable development of resources and the environment.
基金supported by the National Natural Science Foundation of China(Nos.12464010,52462035)2022 Jiangxi Province High-Level and High-Skilled Leading Talent Training Project Selected(No.63)+1 种基金Jiujiang“Xuncheng Talents”(No.JJXC2023032)Jiujiang Basic Research Program Project(2025).
文摘This paper investigates the power generation characteristics of solar cells mounted on unmanned aerial vehicles(UAVs)under the coupled influence of flight conditions and the sur-rounding environment.Firstly,the study reveals that the voltage,current,and power output of the solar cells undergo consistent temporal variations throughout the day,primarily driven by voltage fluctuations,with a peak occurring around noon.Secondly,it is observed that the cells’performance is significantly more influenced by temporal variations in external light intensity than by temperature changes resulting from variations in flight speed.Finally,the study finds that the impact of flight altitude on the cells’performance is slightly more pronounced than the influence of temporal variations in external light intensity.
基金support for this research from the Natural Science Foundation of Henan Province(252300421005).
文摘As advancements in the Internet of Things(IoT)and unmanned technologies continues to progress,the development of unmanned system of systems(USS)has reached unprecedented levels.While prior research has predominantly examined temporal variations in USS resilience,spatial changes remain underexplored.However,USS may involve kinetic engagements and frequent spatial changes during mission execution,affecting signal interference in data layer communications.Although time-dependent factors primarily govern mission effectiveness of the USS,spatial factors influence the transmission stability of the data layer.Consequently,assessing spatiotemporal variations in USS performance is critical.To address these challenges,this study introduces a spatiotemporal resilience assessment framework,which evaluates USS resilience across both temporal and spatial dimensions.Furthermore,we propose a spatiotemporal resilience optimization scheme that enhances system adaptability throughout the mission lifecycle,with a particular emphasis on prevention and recovery strategies.Finally,we validate the validity of the proposed concepts and methods with a case study featuring a regular hexagonal deployment of USS.The results show that the spatiotemporal resilience can better reflect the spatial change characteristics of USS,and the proposed optimization strategy improves the prevention spatiotemporal resilience,recovery spatiotemporal resilience,and entire-process spatiotemporal resilience of USS by 0.22%,8.39%,and 11.29%,respectively.
基金supported by the National Natural Science Foundation of China(72471240).
文摘When performing tasks,unmanned clusters often face a variety of strategy choices.One of the key issues in unmanned cluster tasks is the method through which to design autonomous collaboration and cooperative evolution mechanisms that allow for unmanned clusters to maximize their overall task effective-ness under the condition of strategic diversity.This paper ana-lyzes these task requirements from three perspectives:the diver-sity of the decision space,information network construction,and the autonomous collaboration mechanism.Then,this paper pro-poses a method for solving the problem of strategy selection diversity under two network structures.Next,this paper presents a Moran-rule-based evolution dynamics model for unmanned cluster strategies and a vision-driven-mechanism-based evolu-tion dynamics model for unmanned cluster strategy in the con-text of strategy selection diversity according to various unmanned cluster application scenarios.Finally,this paper pro-vides a simulation analysis of the effects of relevant parameters such as the payoff factor and cluster size on cooperative evolu-tion in autonomous cluster collaboration for the two types of models.On this basis,this paper presents advice for effectively addressing diverse choices in unmanned cluster tasks,thereby providing decision support for practical applications of unmanned cluster tasks.
基金the National Natural Science Foundation of China(No.51879119)the Key Projects of National Key Research and Development Program(No.2021YFB390150)+1 种基金the Natural Science Project of Fujian Province(Nos.2022J01323,2021J01822 and 2020J01660)the Fuzhou-Xiamen-Quanzhou Independent Innovation Region Cooperated Special Foundation(No.3502ZCQXT2021007)。
文摘To achieve the track following and collision avoidance of underactuated unmanned surface vehicle(USV),autonomous navigation model based on model predictive control is established by including the track offset,speed variation and rule compliance as the evaluation functions and including the ship domain of dynamic/static navigation obstacles and the mechanical characteristics limitation as constraints.The effectiveness of the model for autonomous navigation of USV in the situation of multi-ship encounters and in the complex waters with both dynamic and static obstructions is verified by several groups of simulation work.The simulation results show that the proposed model can realize the autonomous navigation of the underactuated USV under the complex waters.
