Search Results (97)

Ensuring the structural integrity and operational safety of oil and gas pipelines is a critical challenge due to their extensive geographical coverage and exposure to environmental and anthropogenic risks. Traditional inspection approaches including ground patrols and manned aerial surveys are labor-intensive, costly, and often lack real-time responsiveness. While unmanned aerial vehicles (UAVs) enable flexible and high-resolution monitoring, their practical deployment requires lightweight, robust detection models capable of real-time inference on embedded edge hardware under heterogeneous environmental conditions. This paper presents an end-to-end, edge-deployable UAV inspection framework for simultaneous detection of above-ground pipelines and visually observable anomaly/leak indicators using the official Ultralytics YOLOv26n object detector. A curated dataset of 6127 UAV images acquired across desert, semi-urban, and industrial environments was annotated with two classes (Pipeline and Anomaly/Leak) and partitioned into training 87.5%, validation 8.3%, and testing 4.2% subsets. The detector was fine-tuned from COCO-pretrained weights for 300 epochs at 600 × 600 resolution and evaluated using COCO-style metrics. On the held-out test set, the proposed model achieved 92.4% mAP@0.5 and 75.0% mAP@0.5:0.95, with 89.7% precision, 90.2% recall, and 89.9% F1-score at the selected operating threshold. Optimized TensorRT deployment on an NVIDIA Jetson Xavier NX sustained real-time inference at 18 FPS, demonstrating suitability for onboard UAV processing. Rather than proposing a new detector architecture, the study contributes a domain-specific annotated UAV dataset, deployment-oriented benchmarking, and an end-to-end edge inference workflow for corridor-scale monitoring. The proposed framework can help reduce environmental contamination risk and improve personnel safety during pipeline inspection. Full article

With the growing applications of maritime unmanned systems in environmental monitoring, ocean patrol, and emergency response, achieving efficient multi-platform cooperation in complex and dynamic marine environments remains a critical challenge. Unmanned Aerial Vehicles (UAVs) provide flexible and high-coverage sensing capabilities but are constrained by limited energy capacity, whereas Unmanned Surface Vehicles (USVs) offer long endurance and can serve as mobile platforms and energy supply nodes. Existing studies mostly focus on single-factor optimization, lacking a systematic analysis of the coupled relationships among energy, information (communication and positioning), and task decision making. To address this problem, this paper proposes an Energy–Information–Decision Coupling Optimization Method for Cooperative Maritime Unmanned Systems. A unified coupling model is established to integrate task completion, energy consumption, communication delay, and replenishment scheduling into a multi-objective optimization framework. A bi-level optimization algorithm is designed: the upper layer optimizes USV trajectories and energy supply strategies, while the lower layer optimizes UAV path planning and task allocation. A closed-loop adaptive mechanism is incorporated to achieve optimal cooperation under dynamic tasks and energy constraints. Extensive simulations combined with real-world experimental data are conducted to evaluate the method in terms of mission efficiency, energy balance, communication latency, and system robustness, with ablation studies quantifying the contribution of the coupling module. Results demonstrate that the proposed method significantly outperforms non-coupled or single-factor optimization strategies across multiple performance metrics: it achieves a task completion rate exceeding 93%, reduces total energy consumption by approximately 6% and replenishes waiting latency by over 28% compared with the decoupled baseline method. This effectively enhances the cooperative efficiency and robustness of maritime unmanned systems, and provides theoretical and methodological guidance for large-scale, complex ocean missions. Full article

In underwater reconnaissance and patrol, AUV has to sense and judge traversability in cluttered areas that include reefs, cliffs, and seabed infrastructure. A narrow sonar field of view, occlusion, and current-driven disturbances leave the vehicle with local, time-varying information, so decisions are made with incomplete and uncertain observations. A path-planning framework is built around two coupled components: spatiotemporal graph neural network prediction and conditional normalizing flow (CNF)-based probabilistic environment reconstruction. Forward-looking sonar and inertial navigation system (INS) measurements are fused online to form a local environment graph with temporal encoding. Cross-temporal message passing captures how occupancy and maneuver patterns evolve, which supports path prediction under dynamic reachability and collision-avoidance constraints. For regions that remain unobserved, CNF performs conditional generation from the available local observations, producing probabilistic completion and an explicit uncertainty output. Conformal calibration then maps model confidence to credible intervals with controlled miscoverage, giving a consistent probabilistic interface for risk budgeting. To keep pace with ocean currents and moving targets, edge weights and graph connectivity are updated online as new observations arrive. Compared with Informed Random Tree star (RRT*), D* Lite, Soft Actor-Critic (SAC), and Graph Neural Network-Probabilistic Roadmap (GNN-PRM), the proposed method achieves a near 100% success rate at 20% occlusion and maintains about an 80% success rate even under 70% occlusion. In dynamic obstacle scenarios, it yields about a 4% collision rate at low speeds and keeps the collision rate below 20% when obstacle speed increases to 3 m/s. Ablation studies further demonstrate that temporal modeling improves success rate by about 7.1%, CNF-based probabilistic completion boosts success rate by about 13.2% and reduces collisions by about 17%, while conformal calibration reduces coverage error by about 6.6%, confirming robust planning under heavy occlusion and time-varying uncertainty. Full article

In recent years, flying ad hoc networks (FANETs) have attracted attention as aerial communication platforms for large-scale disasters. In wide, city-scale disaster zones, survivors’ devices often form multiple isolated clusters, while battery-powered unmanned aerial vehicles (UAVs) must periodically return to a ground station (GS). Under such conditions, conventional delay/disruption-tolerant networking (DTN) routing (e.g., PRoPHET) often traps bundles in clusters or UAVs, degrading the bundle delivery ratio (BDR) to the GS. This study proposes a DTN-based FANET architecture that integrates (i) a mobility model assigning UAVs to information–exploration UAVs that randomly patrol the disaster area and GS–relay UAVs that follow spoke-like routes to periodically visit the GS, and (ii) an extended PRoPHET-based routing protocol that exploits exogenous information on GS visits to bias delivery predictabilities toward GS–relay UAVs and UAVs returning for recharging. Simulations with The ONE in a 10 km × 10 km scenario with multiple clusters show that the proposed method suppresses BDR degradation by up to 41% relative to PRoPHET, raising the BDR from 0.27 to 0.39 in the five-cluster case and increasing the proportion of bundles delivered with lower delay. These results indicate that the proposed method is well-suited for relaying critical disaster-related information. Full article

Persistent patrolling with multiple Unmanned Aerial Vehicles (UAVs) remains challenging due to dynamic surveillance priorities, heterogeneous node importance, and evolving operational constraints. We present the novel Chimpanzee Troop Algorithm for Patrolling (CTAP), a decentralized policy inspired by chimpanzees fission–fusion dynamics and territorial behavior. CTAP provides three capabilities: (i) on-the-fly patrol-group instantiation, (ii) importance-aware territorial partitioning of the patrol graph, and (iii) adaptive boundary expansion via a lightweight shared-memory overlay that coordinates neighboring groups without centralization. Unlike the Ant Colony Optimization (ACO), Heuristic Pathfinder Conscientious Cognitive (HPCC), Recurrent LSTM Path-Maker (RLPM), State-Exchange Bayesian Strategy (SEBS), and Dynamic Task Assignment via Auctions (DTAP) baselines, CTAP couples local-idleness reduction with controlled edge-exploration, yielding stable coverage under shifting demand. We evaluate these approaches across multiple maps and fleet sizes using the average weighted idleness, global worst-weighted idleness, and Time-Normalized Idleness metrics. CTAP reduces the average weighted idleness by 7% to 22% and the global worst-weighted idleness by 30–65% relative to the strongest competitor and attains the lowest Time-Normalized Idleness in every configuration. These results show that a simple, communication-limited, partition-based policy enables robust, scalable patrolling suitable for resource-constrained UAV teams in smart-city environments. Full article

In this paper, we propose a cooperative security method for unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) based on the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithm to address the scenario of unauthorized rogue drones (RDs) intruding into an airport’s restricted airspace. The proposed method integrates artificial intelligence techniques with engineering solutions to enhance the autonomy and effectiveness of air–ground cooperation in airport security. Specifically, the MADDPG algorithm enables the Security Interception UAVs (SI-UAVs) to autonomously detect and counteract RDs by optimizing their decision-making processes in a multi-agent environment. Additionally, Particle Swarm Optimization (PSO) is employed for distance-based target assignment, allowing each SI-UAV to autonomously select intruder targets based on proximity. To address the challenge of limited SI-UAV flight range, a power replenishment mechanism is introduced, where each SI-UAV automatically returns to the nearest UGV for recharging after reaching a predetermined distance. Meanwhile, UGVs perform ground patrols across different airport critical zones (e.g., runways and terminal perimeters) according to pre-designed patrol paths. The simulation results demonstrate the feasibility and effectiveness of the proposed security strategy, showing improvements in the reward function and the number of successful interceptions. This approach effectively solves the problems of target allocation and limited SI-UAV range in multi-SI-UAV-to-multi-RD scenarios, further enhancing the autonomy and efficiency of air–ground cooperation in ensuring airport security. Full article

Road infrastructure elements like guardrails, bollards, delineators, and traffic signs are critical for traffic safety but are significantly underrepresented in existing driving datasets, which primarily focus on vehicles and pedestrians. To address this crucial gap, we introduce DORIE (Dataset of Road Infrastructure Elements), a novel, high-resolution dataset specifically curated for real-time patrol vehicle monitoring along the A2 motorway in Spain. DORIE features 938 manually annotated images containing over 6800 object instances across ten safety-critical categories, including both static infrastructure and dynamic traffic participants. To establish a robust performance benchmark, we conducted an extensive evaluation of the YOLO family of detectors (versions 8, 11, and 12) across multiple scales and input resolutions. The results show that larger YOLO models and higher-resolution inputs yield up to 40% improvement in mean Average Precision (mAP) compared to smaller architectures, particularly for small and visually diverse classes such as traffic signs and bollards. The inference latency ranged between 5.7 and 245.2 ms per frame, illustrating the trade-off between detection accuracy and processing speed relevant to real-time operation. By releasing DORIE with detailed annotations and quantitative YOLO-based baselines, we provide a verifiable and reproducible resource to advance research in infrastructure monitoring and support the development of intelligent road safety and maintenance systems. Full article

With the increasing frequency and intensity of forest fires driven by climate change and human activities, efficient detection and rapid response have become critical for forest fire prevention. Effective fire detection, swift response, and timely rescue are vital for forest firefighting efforts. This paper proposes an unmanned aerial vehicle (UAV)-based forest fire inspection system that integrates a ground support system (GSS), aiming to enhance automation and flexibility in inspection tasks. A three-layer mixed-integer linear programming model is developed: the first layer focuses on the site selection and capacity planning of the GSS; the second layer defines the coverage scope of different GSS units; and the third layer plans the inspection routes of UAVs and coordinates multi-UAV collaborative tasks. For planning UAV patrol routes and collaborative tasks, a goal-driven greedy algorithm (GDGA) based on traditional greedy methods is proposed. Simulation experiments based on a real forest fire case in Turkey demonstrate that the proposed model reduces the total annual costs by 28.1% and 16.1% compared to task-only and renewable-only models, respectively, with a renewable energy penetration rate of 68.71%. The goal-driven greedy algorithm also shortens UAV patrol distances by 7.0% to 12.5% across different rotation angles. These results validate the effectiveness of the integrated model in improving inspection efficiency and economic benefits, thereby providing critical support for forest fire prevention. Full article

Efficient cleaning of floating waste using an intelligent unmanned surface vehicle is an important development trend in inland water governance. Path planning is the core of the decision-making module for unmanned surface vehicle waste cleaning and is key to achieving autonomous operation of the unmanned surface vehicle. However, due to the complexity and dynamic changes of the water surface environment, unmanned surface vehicle path planning methods for floating waste face challenges such as small size, uncertainty, and uneven distribution of floating waste. In response to the above issues, this article studies the problem of insufficient integration and low efficiency between existing path planning algorithms and target-perception modules, and designs an efficient overall path planning method for floating-waste cleaning by an unmanned surface vehicle. This method transforms the path planning problem of floating-waste cleaning unmanned surface vehicle into a Traveling Salesman Problem by setting global patrol points and tracking local targets, and proposes an improved ant colony algorithm, IACO, to solve the Traveling Salesman Problem. This article is based on the TSPLIB dataset and practical applications for experiments. The experimental results show that the proposed method has average optimal path lengths of 75.930 m, 446.555 m, and 703.759 m on the Ulysses22, eil51, and st70 datasets, respectively, which are reduced by 0.355 m, 4.108 m, and 13.575 m compared to the benchmark. Full article

This work formulates and solves the actual problem of studying the logistics of unmanned aerial vehicle (UAV) operations in facility security planning. The study is related to security tasks, including perimeter control, infrastructure condition monitoring, prevention of unauthorized access, and analysis of potential threats. Thus, the topic of the proposed publication is relevant as it examines the sequence of logistical actions in the large-scale application of a swarm of drones for facility protection. The purpose of the research is to create a set of mathematical and simulation models that can be used to analyze the capabilities of a drone swarm when organizing security measures. The article analyzes modern problems of using a drone swarm: formation of the swarm, assessment of its potential capabilities, organization of patrols, development of monitoring scenarios, planning of drone routes and assessment of the effectiveness of the security system. Special attention is paid to the possibilities of wave patrols to provide continuous surveillance of the object. In order to form a drone swarm and possibly divide it into groups sent to different surveillance zones, the necessary UAV capacity to effectively perform security tasks is assessed. Possible security scenarios using drone waves are developed as follows: single patrolling with limited resources; two-wave patrolling; and multi-stage patrolling for complete coverage of the protected area with the required number of UAVs. To select priority monitoring areas, the functional potential of drones and current risks are taken into account. An optimization model of rational distribution of drones into groups to ensure effective control of the protected area is created. Possible variants of drone group formation are analyzed as follows: allocation of one priority surveillance zone, formation of a set of key zones, or even distribution of swarm resources along the entire perimeter. Possible scenarios for dividing the drone swarm in flight are developed as follows: dividing the swarm into groups at the launch stage, dividing the swarm at a given navigation point on the route, and repeatedly dividing the swarm at different patrol points. An original algorithm for the formation of drone flight routes for object surveillance based on the simulation modeling of the movement of virtual objects simulating drones has been developed. An agent-based model on the AnyLogic platform was created to study the logistics of security operations. The scientific novelty of the study is related to the actual task of forming possible strategies for using a swarm of drones to provide integrated security of objects, which contributes to improving the efficiency of security and monitoring systems. The results of the study can be used by specialists in security, logistics, infrastructure monitoring and other areas related to the use of drone swarms for effective control and protection of facilities. Full article

This study proposes an intelligent patrol planning framework that leverages reinforcement learning, spatiotemporal crime forecasting, and simulated sensor telemetry to optimize autonomous vehicle (AV) navigation in urban environments. Crime incidents from Washington DC (2024–2025) and Seattle (2008–2024) are modeled as a dynamic spatiotemporal graph, capturing the evolving intensity and distribution of criminal activity across neighborhoods and time windows. The agent’s state space incorporates synthetic AV sensor inputs—including fuel level, visual anomaly detection, and threat signals—to reflect real-world operational constraints. We evaluate and compare three learning strategies: Deep Q-Network (DQN), Double Deep Q-Network (DDQN), and Proximal Policy Optimization (PPO). Experimental results show that DDQN outperforms DQN in convergence speed and reward accumulation, while PPO demonstrates greater adaptability in sensor-rich, high-noise conditions. Real-map simulations and hourly risk heatmaps validate the effectiveness of our approach, highlighting its potential to inform scalable, data-driven patrol strategies in next-generation smart cities. Full article

Urban traffic congestion poses persistent challenges to mobility, public safety, and governance efficiency in metropolitan areas. This study proposes an intelligent traffic flow forecasting framework based on an extended Long Short-Term Memory (xLSTM) model, specifically designed for real-time congestion prediction and proactive police dispatch support. Utilizing a real-world dataset collected from over 300 vehicle detector (VD) sensors, the proposed model integrates vehicle volume, speed, and lane occupancy data at five-minute intervals. Methodologically, the xLSTM model incorporates matrix-based memory cells and exponential gating mechanisms to enhance spatio-temporal learning capabilities. Model performance is evaluated using multiple metrics, including congestion classification accuracy, F1-score, MAE, RMSE, and inference latency. The xLSTM model achieves a congestion prediction accuracy of 87.3%, an F1-score of 0.882, and an average inference latency of 41.2 milliseconds—outperforming baseline LSTM, GRU, and Transformer-based models in both accuracy and speed. These results validate the system’s suitability for real-time deployment in police control centers, where timely prediction of traffic congestion enables anticipatory patrol allocation and dynamic signal adjustment. By bridging AI-driven forecasting with public safety operations, this research contributes a validated and scalable approach to intelligent transportation governance, enhancing the responsiveness of urban mobility systems and advancing smart city initiatives. Full article

Few studies have examined Hybrid Aquatic–Aerial Vehicles (HAAVs), autonomous vehicles designed to operate in both air and water, especially those that are aircraft-launched and recovered, with a variable-sweep design to free dive into a body of water and breach under buoyant and propulsive force to re-achieve flight. The novel design research examines the viability of a recoverable sonar-search child aircraft for maritime patrol, one which can overcome the prohibitive sea state limitations of all current HAAV designs in the research literature. This paper reports on the analysis from computational fluid dynamic (CFD) simulations of such an HAAV diving into static seawater at low speeds due to the reverse thrust of two retractable electric-ducted fans (EDFs) and its subsequent breach back into flight initially using a fast buoyancy engine developed for deep-sea research vessels. The HAAV model entered the water column at speeds around 10 ms⁻¹ and exited at 5 ms⁻¹ under various buoyancy cases, normal to the surface. Results revealed that impact force magnitudes varied with entry speed and were more acute according to vehicle mass, while a sufficient portion of the fuselage was able to clear typical wave heights during its breach for its EDF propulsors and wings to protract unhindered. Examining the medium transition dynamics of such a novel HAAV has provided insight into the structural, propulsive, buoyancy, and control requirements for future conceptual design iterations. Research is now focused on validating these unperturbed CFD dive and breach cases with pool experiments before then parametrically and numerically examining the effects of realistic ocean sea states. Full article

Street crime is a critical public concern, attracting wide social and research attention. Conventional solutions to reduce street crimes are dispatching more police force in patrol and installing more cameras for street surveillance, which, however, suffer from huge manpower and financial consumption and limited performance. Inspired by the wide application of Unmanned Aerial Vehicles (UAVs) in policing and other related missions such as street surveillance, we investigate the use of UAVs in patrolling along high-risk streets to deter street crimes. UAVs significantly outperform police officers and street cameras in terms of cost reduction and deterring performance improvement. Technically, this paper proposes a data-driven framework to schedule the patrol UAVs, including an online patrol path planning module and an offline UAV station siting module. In the first module, the street-level deterring effect of the UAVs is estimated using a prediction-enhanced method, which guides the UAVs to patrol the high-risk streets more efficiently. Evolved from the path planning algorithm, the second module utilizes a data-driven method to estimate the deterring effect of the candidate UAV stations with different numbers of UAVs. Then both the location of the UAV stations and the UAVs at each station are determined. The proposed framework is comprehensively evaluated using a 6-year crime dataset of the Denver city. The results show that the proposed framework improves the deterring effect by 58.49% on average, and up to 157.32% in extreme cases compared to baselines. Full article

The cooperative patrol control of multiple unmanned surface vehicles (Multi-USVs) in dynamic aquatic environments presents significant challenges in global coverage efficiency and system robustness. The study proposes a cooperative patrol control algorithm for multiple unmanned surface vehicles (Multi-USVs) based on a hybrid embedded task state information model and reward reshaping techniques, addressing global coverage challenges in dynamic aquatic environments. By integrating patrol, collaboration, and obstacle information graphs, the algorithm generates kinematically feasible control actions in real time and optimizes the exploration-cooperation trade-off through a dense reward structure. Simulation results demonstrate that the algorithm achieves 99.75% coverage in a 1 km × 1 km task area, reducing completion time by 23% and 74% compared to anti-flocking and partition scanning algorithms, respectively, while maintaining collision rates between agents (CRBAA) and obstacles (CRBAO) below 0.15% and 0.5%. Compared to DDPG, SAC, and PPO frameworks, the proposed training framework (TFMUSV) achieves 28% higher rewards with 40% smaller fluctuations in later training stages. This study provides an efficient and reliable solution for autonomous monitoring and search-rescue missions in complex aquatic environments. Full article