Journal Description
Drones
Drones
is an international, peer-reviewed, open access journal published monthly online by MDPI. The journal focuses on design and applications of drones, including unmanned aerial vehicle (UAV), Unmanned Aircraft Systems (UAS), and Remotely Piloted Aircraft Systems (RPAS), etc. Likewise, contributions based on unmanned water/underwater drones and unmanned ground vehicles are also welcomed.
- Open Access— free for readers, with article processing charges (APC) paid by authors or their institutions.
- High visibility: indexed within Scopus, SCIE (Web of Science), Inspec, and other databases.
- Journal Rank: JCR - Q2 (Remote Sensing) / CiteScore - Q1 (Aerospace Engineering)
- Rapid Publication: manuscripts are peer-reviewed and a first decision is provided to authors approximately 14.8 days after submission; acceptance to publication is undertaken in 2.5 days (median values for papers published in this journal in the first half of 2023).
- Recognition of Reviewers: reviewers who provide timely, thorough peer-review reports receive vouchers entitling them to a discount on the APC of their next publication in any MDPI journal, in appreciation of the work done.
Impact Factor:
4.8 (2022);
5-Year Impact Factor:
5.5 (2022)
Latest Articles
Usability Comparison between 2D and 3D Control Methods for the Operation of Hovering Objects
Drones 2023, 7(8), 520; https://doi.org/10.3390/drones7080520 - 08 Aug 2023
Abstract
This paper experimentally analyzed the cognitive load of users based on different methods of operating hovering objects, such as drones. The traditional gamepad-type control method (2D) was compared with a control method that mapped the movement directions of the drone to the natural
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This paper experimentally analyzed the cognitive load of users based on different methods of operating hovering objects, such as drones. The traditional gamepad-type control method (2D) was compared with a control method that mapped the movement directions of the drone to the natural manipulation gestures of the user using a Leap Motion device (3D). Twenty participants operated the drone on an obstacle course using the two control methods. The drone’s trajectory was measured using motion-capture equipment with a reflective marker. The distance traveled by the drone, operation time, and trajectory smoothness were calculated and compared between the two control methods. The results showed that when the drone’s movements were mapped to the user’s natural directional gestures, the drone’s 3D movements were perceived as more natural and smoother. A more intuitive drone control method can reduce cognitive load and minimize operational errors, making it more user friendly and efficient. However, due to the users’ lack of familiarity with Leap Motion, it resulted in longer distance and time and lower subjective satisfaction; therefore, a more improved 3D control method over Leap Motion is needed to address the limitations.
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(This article belongs to the Special Issue Navigation, Control and Mission Planning Advances for Safe, Efficient and Autonomous Drones)
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Evaluation of Almond Harvest Dust Abatement Strategies Using an Aerial Drone Particle Monitoring System
Drones 2023, 7(8), 519; https://doi.org/10.3390/drones7080519 - 08 Aug 2023
Abstract
This study demonstrates the feasibility of a mobile aerial drone particle monitoring system (DPMS) to measure and detect changes in harvest dust levels based on moderate adjustments to harvester settings. When compared to an earlier harvester, a new harvester operated at standard settings
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This study demonstrates the feasibility of a mobile aerial drone particle monitoring system (DPMS) to measure and detect changes in harvest dust levels based on moderate adjustments to harvester settings. When compared to an earlier harvester, a new harvester operated at standard settings produced 35% fewer PM2.5s, 32% fewer PM10s, and 42% fewer TSPs. Increasing the ground speed had an adverse effect on dust mitigation, while reducing it by half only offered a slightly more favorable margin. The mutual effects of some meteorological factors were found to be slightly correlated with PM10 and TSP readings and caused significant variability in PM2.5 readings. The current findings show similar trends to PM reduction estimates of previous studies, with only a nominal difference of 10 to 15% points. Overall, the DPMS was found to perform well within an acceptable statistical confidence level. The use of DPMSs could reduce the logistical needs, complexity issues, and feedback times often experienced using the Federal Reference Method (FRM). Further investigation is needed to verify its robustness and to develop potential correlations with the FRM under different orchard location and management practices. At this stage, the current aerial DPMS should be considered a rapid screening tool not to replace the FRM, but rather to complement it in evaluating the feasibility of dust abatement strategies for the almond industry.
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(This article belongs to the Section Drones in Agriculture and Forestry)
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Budgeted Bandits for Power Allocation and Trajectory Planning in UAV-NOMA Aided Networks
Drones 2023, 7(8), 518; https://doi.org/10.3390/drones7080518 - 07 Aug 2023
Abstract
On one hand combining Unmanned Aerial Vehicles (UAVs) and Non-Orthogonal Multiple Access (NOMA) is a remarkable direction to sustain the exponentially growing traffic requirements of the forthcoming Sixth Generation (6G) networks. In this paper, we investigate effective Power Allocation (PA) and Trajectory Planning
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On one hand combining Unmanned Aerial Vehicles (UAVs) and Non-Orthogonal Multiple Access (NOMA) is a remarkable direction to sustain the exponentially growing traffic requirements of the forthcoming Sixth Generation (6G) networks. In this paper, we investigate effective Power Allocation (PA) and Trajectory Planning Algorithm (TPA) for UAV-aided NOMA systems to assist multiple survivors in a post-disaster scenario, where ground stations are malfunctioned. Here, the UAV maneuvers to collect data from survivors, which are grouped in multiple clusters within the disaster area, to satisfy their traffic demands. On the other hand, while the problem is formulated as Budgeted Multi-Armed Bandits (BMABs) that optimize the UAV trajectory and minimize battery consumption, challenges may arise in real-world scenarios. Herein, the UAV is the bandit player, the disaster area clusters are the bandit arms, the sum rate of each cluster is the payoff, and the UAV energy consumption is the budget. Hence, to tackle these challenges, two Upper Confidence Bound (UCB) BMAB schemes are leveraged to handle this issue, namely BUCB1 and BUCB2. Simulation results confirm the superior performance of the proposed BMAB solution against benchmark solutions for UAV-aided NOMA communication. Notably, the BMAB-NOMA solution exhibits remarkable improvements, achieving 60% enhancement in the total number of assisted survivors, 80% improvement in convergence speed, and a considerable amount of energy saving compared to UAV-OMA.
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(This article belongs to the Special Issue AI-Powered Energy-Efficient UAV Communications)
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DFA-Net: Multi-Scale Dense Feature-Aware Network via Integrated Attention for Unmanned Aerial Vehicle Infrared and Visible Image Fusion
Drones 2023, 7(8), 517; https://doi.org/10.3390/drones7080517 - 06 Aug 2023
Abstract
Fusing infrared and visible images taken by an unmanned aerial vehicle (UAV) is a challenging task, since infrared images distinguish the target from the background by the difference in infrared radiation, while the low resolution also produces a less pronounced effect. Conversely, the
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Fusing infrared and visible images taken by an unmanned aerial vehicle (UAV) is a challenging task, since infrared images distinguish the target from the background by the difference in infrared radiation, while the low resolution also produces a less pronounced effect. Conversely, the visible light spectrum has a high spatial resolution and rich texture; however, it is easily affected by harsh weather conditions like low light. Therefore, the fusion of infrared and visible light has the potential to provide complementary advantages. In this paper, we propose a multi-scale dense feature-aware network via integrated attention for infrared and visible image fusion, namely DFA-Net. Firstly, we construct a dual-channel encoder to extract the deep features of infrared and visible images. Secondly, we adopt a nested decoder to adequately integrate the features of various scales of the encoder so as to realize the multi-scale feature representation of visible image detail texture and infrared image salient target. Then, we present a feature-aware network via integrated attention to further fuse the feature information of different scales, which can focus on specific advantage features of infrared and visible images. Finally, we use unsupervised gradient estimation and intensity loss to learn significant fusion features of infrared and visible images. In addition, our proposed DFA-Net approach addresses the challenges of fusing infrared and visible images captured by a UAV. The results show that DFA-Net achieved excellent image fusion performance in nine quantitative evaluation indexes under a low-light environment.
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(This article belongs to the Special Issue Intelligent Processing and Application of UAV Remote Sensing Image Data)
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Automatic Real-Time Creation of Three-Dimensional (3D) Representations of Objects, Buildings, or Scenarios Using Drones and Artificial Intelligence Techniques
Drones 2023, 7(8), 516; https://doi.org/10.3390/drones7080516 - 05 Aug 2023
Abstract
This work presents the development and evaluation of a real-time 3D reconstruction system using drones. The system leverages innovative artificial intelligence techniques in photogrammetry and computer vision (CDS-MVSNet and DROID-SLAM) to achieve the accurate and efficient reconstruction of 3D environments. By integrating vision,
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This work presents the development and evaluation of a real-time 3D reconstruction system using drones. The system leverages innovative artificial intelligence techniques in photogrammetry and computer vision (CDS-MVSNet and DROID-SLAM) to achieve the accurate and efficient reconstruction of 3D environments. By integrating vision, navigation, and 3D reconstruction subsystems, the proposed system addresses the limitations of existing applications and software in terms of speed and accuracy. The project encountered challenges related to scheduling, resource availability, and algorithmic complexity. The obtained results validate the applicability of the system in real-world scenarios and open avenues for further research in diverse areas. One of the tests consisted of a one-minute-and-three-second flight around a small figure, while the reconstruction was performed in real time. The reference Meshroom software completed the 3D reconstruction in 136 min and 12 s, while the proposed system finished the process in just 1 min and 13 s. This work contributes to the advancement in the field of 3D reconstruction using drones, benefiting from advancements in technology and machine learning algorithms.
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(This article belongs to the Special Issue UAVs for Photogrammetry, 3D Modeling, Obtrusive Light and Sky Glow Measurements)
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An Overview of Drone Applications in the Construction Industry
Drones 2023, 7(8), 515; https://doi.org/10.3390/drones7080515 - 03 Aug 2023
Abstract
The integration of drones in the construction industry has ushered in a new era of efficiency, accuracy, and safety throughout the various phases of construction projects. This paper presents a comprehensive overview of the applications of drones in the construction industry, focusing on
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The integration of drones in the construction industry has ushered in a new era of efficiency, accuracy, and safety throughout the various phases of construction projects. This paper presents a comprehensive overview of the applications of drones in the construction industry, focusing on their utilization in the design, construction, and maintenance phases. The differences between the three different types of drones are discussed at the beginning of the paper where the overview of the drone applications in construction industry is then described. Overall, the integration of drones in the construction industry has yielded transformative advancements across all phases of construction projects. As technology continues to advance, drones are expected to play an increasingly critical role in shaping the future of the construction industry.
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(This article belongs to the Special Issue Intelligent Image Processing and Sensing for Drones)
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Model-Free Guidance Method for Drones in Complex Environments Using Direct Policy Exploration and Optimization
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Drones 2023, 7(8), 514; https://doi.org/10.3390/drones7080514 - 03 Aug 2023
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In the past few decades, drones have become lighter, with longer hang times, and exhibit more agile performance. To maximize their capabilities during flights in complex environments, researchers have proposed various model-based perception, planning, and control methods aimed at decomposing the problem into
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In the past few decades, drones have become lighter, with longer hang times, and exhibit more agile performance. To maximize their capabilities during flights in complex environments, researchers have proposed various model-based perception, planning, and control methods aimed at decomposing the problem into modules and collaboratively accomplishing the task in a sequential manner. However, in practical environments, it is extremely difficult to model both the drones and their environments, with very few existing model-based methods. In this study, we propose a novel model-free reinforcement-learning-based method that can learn the optimal planning and control policy from experienced flight data. During the training phase, the policy considers the complete state of the drones and environmental information as inputs. It then self-optimizes based on a predefined reward function. In practical implementations, the policy takes inputs from onboard and external sensors and outputs optimal control commands to low-level velocity controllers in an end-to-end manner. By capitalizing on this property, the planning and control policy can be improved without the need for an accurate system model and can drive drones to traverse complex environments at high speeds. The policy was trained and tested in a simulator, as well as in real-world flight experiments, demonstrating its practical applicability. The results show that this model-free method can learn to fly effectively and that it holds great potential to handle different tasks and environments.
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DECCo-A Dynamic Task Scheduling Framework for Heterogeneous Drone Edge Cluster
Drones 2023, 7(8), 513; https://doi.org/10.3390/drones7080513 - 03 Aug 2023
Abstract
The heterogeneity of unmanned aerial vehicle (UAV) nodes and the dynamic service demands make task scheduling particularly complex in the drone edge cluster (DEC) scenario. In this paper, we provide a universal intelligent collaborative task scheduling framework, named DECCo, which schedules dynamically changing
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The heterogeneity of unmanned aerial vehicle (UAV) nodes and the dynamic service demands make task scheduling particularly complex in the drone edge cluster (DEC) scenario. In this paper, we provide a universal intelligent collaborative task scheduling framework, named DECCo, which schedules dynamically changing task requests for the heterogeneous DEC. Benefiting from the latest advances in deep reinforcement learning (DRL), DECCo autonomously learns task scheduling strategies with high response rates and low communication latency through a collaborative Advantage Actor–Critic algorithm, which avoids the interference of resource overload and local downtime while ensuring load balancing. To better adapt to the real drone collaborative scheduling scenario, DECCo switches between heuristic and DRL-based scheduling solutions based on real-time scheduling performance, thus avoiding suboptimal decisions that severely affect Quality of Service (QoS) and Quality of Experience (QoE). With flexible parameter control, DECCo can adapt to various task requests on drone edge clusters. Google Cluster Usage Traces are used to verify the effectiveness of DECCo. Therefore, our work represents a state-of-the-art method for task scheduling in the heterogeneous DEC.
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(This article belongs to the Special Issue UAV-Assisted Internet of Things)
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Digital Recording of Historical Defensive Structures in Mountainous Areas Using Drones: Considerations and Comparisons
Drones 2023, 7(8), 512; https://doi.org/10.3390/drones7080512 - 03 Aug 2023
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Digital recording of historic buildings and sites in mountainous areas could be challenging. The paper considers and discusses the case of historical defensive structures in the Italian Alps, designed and built to be not accessible. Drone images and photogrammetric techniques for 3D modeling
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Digital recording of historic buildings and sites in mountainous areas could be challenging. The paper considers and discusses the case of historical defensive structures in the Italian Alps, designed and built to be not accessible. Drone images and photogrammetric techniques for 3D modeling play a fundamental role in the digital documentation of fortified constructions with non-contact techniques. This manuscript describes the use of drones for reconstructing the external surfaces of some fortified structures using traditional photogrammetric/SfM solutions and novel methods based on NeRFs. The case of direct orientation based on PPK and traditional GCPs placed on the ground is also discussed, considering the difficulties in placing and measuring control points in such environments.
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(This article belongs to the Special Issue Digital Twins and Extended Reality: Opportunities and Challenges of Integrated Applications)
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A Deep Learning-Based Multi-Signal Radio Spectrum Monitoring Method for UAV Communication
Drones 2023, 7(8), 511; https://doi.org/10.3390/drones7080511 - 03 Aug 2023
Abstract
Unmanned aerial vehicles (UAVs), relying on wireless communication, are inevitably influenced by the complex electromagnetic environment, attributed to the development of wireless communication technology. The modulation information of signals can assist in identifying device information and interference in the environment, which is significant
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Unmanned aerial vehicles (UAVs), relying on wireless communication, are inevitably influenced by the complex electromagnetic environment, attributed to the development of wireless communication technology. The modulation information of signals can assist in identifying device information and interference in the environment, which is significant for UAV communication environment monitoring. Therefore, in scenarios involving the communication of UAVs, it is necessary to find out how to perform the spectrum monitoring method to obtain the modulation information. Most existing methods are unsuitable for scenarios where multiple signals appear in the same spectrum sequence or do not use an end-to-end structure. Firstly, we established a spectrum dataset to simulate the UAV communication environment and developed a label method. Then, detection networks were employed to extract the presence and location information of signals in the spectrum. Finally, decision-level fusion was used to combine the output results of multiple nodes. Five modulation types, including ASK, FSK, 16QAM, DSB-SC, and SSB, were used to simulate different signal sources in the communication environment. Accuracy, recall, and F1 score were used as evaluation metrics. The networks were tested at different signal-to-noise ratios (SNRs). Among the different modulation types, FSK exhibits the most stable recognition performance across different models. The proposed method is of great significance for wireless radio spectrum monitoring in complex electromagnetic environments and is adaptable to scenarios where multiple receivers are used in vast terrains, providing a deep learning-based approach to radio monitoring solutions for UAV communication.
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(This article belongs to the Special Issue UAVs Communications for 6G)
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Routine and Safe Operation of Remotely Piloted Aircraft Systems in Areas with High Densities of Flying Birds
Drones 2023, 7(8), 510; https://doi.org/10.3390/drones7080510 - 02 Aug 2023
Abstract
Remotely Piloted Aircraft Systems (RPASs), or drones, have had a rapid uptake for scientific applications and are proving particularly valuable for data collection in the natural world. The potential for bird strikes presents a real hazard in these settings. While animal welfare is
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Remotely Piloted Aircraft Systems (RPASs), or drones, have had a rapid uptake for scientific applications and are proving particularly valuable for data collection in the natural world. The potential for bird strikes presents a real hazard in these settings. While animal welfare is a primary consideration when planning and executing RPAS operations, the safe operation and return of RPASs is the key to successful flight missions. Here, we asked if RPASs can be routinely and safely implemented to meet data collection requirements in airspaces with high densities of flying birds. We flew quadcopter RPASs over breeding seabird colonies in tropical island settings. A dedicated spotter adjacent to the pilot recorded all interactions between flying seabirds and the RPAS unit while aerial population surveys were being undertaken. Over 600 interactions were recorded for nine species of seabirds. We flew over 100 flights totaling 2104 min in airspace routinely occupied by dense aggregations of seabirds without a single collision. We demonstrate a high capacity to undertake safe and successful RPAS operations in airspaces that contain high densities of flying seabirds. While bird collisions remain possible, such outcomes are clearly rare and should be placed in context with routine disturbances by ground surveys to meet the same objectives. RPASs routinely offer the least invasive method for collecting ecological data compared to traditional field methods and can be undertaken with relatively low risk to the successful completion of the operation.
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(This article belongs to the Special Issue Advances of Drones in Wildlife Research)
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Target Localization for Autonomous Landing Site Detection: A Review and Preliminary Result with Static Image Photogrammetry
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, , , , and
Drones 2023, 7(8), 509; https://doi.org/10.3390/drones7080509 - 02 Aug 2023
Abstract
The advancement of autonomous technology in Unmanned Aerial Vehicles (UAVs) has piloted a new era in aviation. While UAVs were initially utilized only for the military, rescue, and disaster response, they are now being utilized for domestic and civilian purposes as well. In
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The advancement of autonomous technology in Unmanned Aerial Vehicles (UAVs) has piloted a new era in aviation. While UAVs were initially utilized only for the military, rescue, and disaster response, they are now being utilized for domestic and civilian purposes as well. In order to deal with its expanded applications and to increase autonomy, the ability for UAVs to perform autonomous landing will be a crucial component. Autonomous landing capability is greatly dependent on computer vision, which offers several advantages such as low cost, self-sufficiency, strong anti-interference capability, and accurate localization when combined with an Inertial Navigation System (INS). Another significant benefit of this technology is its compatibility with LiDAR technology, Digital Elevation Models (DEM), and the ability to seamlessly integrate these components. The landing area for UAVs can vary, ranging from static to dynamic or complex, depending on their environment. By comprehending these characteristics and the behavior of UAVs, this paper serves as a valuable reference for autonomous landing guided by computer vision and provides promising preliminary results with static image photogrammetry.
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(This article belongs to the Special Issue Resilient UAV Autonomy and Remote Sensing)
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Secure Blockchain-Enabled Authentication Key Management Framework with Big Data Analytics for Drones in Networks Beyond 5G Applications
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, , , , and
Drones 2023, 7(8), 508; https://doi.org/10.3390/drones7080508 - 02 Aug 2023
Abstract
One of the most significant recent advances in technology is the advent of unmanned aerial vehicles (UAVs), i.e., drones. They have widened the scope of possible applications and provided a platform for a wide range of creative responses to a variety of challenges.
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One of the most significant recent advances in technology is the advent of unmanned aerial vehicles (UAVs), i.e., drones. They have widened the scope of possible applications and provided a platform for a wide range of creative responses to a variety of challenges. The Internet of Drones (IoD) is a relatively new concept that has arisen as a consequence of the combination of drones and the Internet. The fifth-generation (5G) and beyond cellular networks (i.e., drones in networks beyond 5G) are promising solutions for achieving safe drone operations and applications. They may have many applications, like surveillance or urban areas, security, surveillance, retaliation, delivering items, smart farming, film production, capturing nature videos, and many more. Due to the fact that it is susceptible to a wide variety of cyber-attacks, there are certain concerns regarding the privacy and security of IoD communications. In this paper, a secure blockchain-enabled authentication key management framework with the big data analytics feature for drones in networks beyond 5G applications is proposed (in short, SBBDA-IoD). The security of SBBDA-IoD against multiple attacks is demonstrated through a detailed security analysis. The Scyther tool is used to perform a formal security verification test on the SBBDA-IoD’s security, confirming the system’s resistance to various potential attacks. A detailed comparative analysis has identified that SBBDA-IoD outperforms the other schemes by a significant margin. Finally, a real-world implementation of SBBDA-IoD is shown to evaluate its effect on several measures of performance.
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(This article belongs to the Special Issue Addressing Security and Privacy Concerns for Drones in Networks beyond 5G)
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An Approach to the Implementation of a Neural Network for Cryptographic Protection of Data Transmission at UAV
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Drones 2023, 7(8), 507; https://doi.org/10.3390/drones7080507 - 02 Aug 2023
Abstract
An approach to the implementation of a neural network for real-time cryptographic data protection with symmetric keys oriented on embedded systems is presented. This approach is valuable, especially for onboard communication systems in unmanned aerial vehicles (UAV), because of its suitability for hardware
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An approach to the implementation of a neural network for real-time cryptographic data protection with symmetric keys oriented on embedded systems is presented. This approach is valuable, especially for onboard communication systems in unmanned aerial vehicles (UAV), because of its suitability for hardware implementation. In this study, we evaluate the possibility of building such a system in hardware implementation at FPGA. Onboard implementation-oriented information technology of real-time neuro-like cryptographic data protection with symmetric keys (masking codes, neural network architecture, and matrix of weighting coefficients) has been developed. Due to the pre-calculation of matrices of weighting coefficients and tables of macro-partial products and the use of tabular-algorithmic implementation of neuro-like elements and dynamic change of keys, it provides increased cryptographic stability and hardware–software implementation on FPGA. The table-algorithmic method of calculating the scalar product has been improved. By bringing the weighting coefficients to the greatest common order, pre-computing the tables of macro-partial products, and using operations of memory read, fixed-point addition, and shift operations instead of floating-point multiplication and addition operations, it provides a reduction in hardware costs for its implementation and calculation time as well. Using a processor core supplemented with specialized hardware modules for calculating the scalar product, a system of neural network cryptographic data protection in real-time has been developed, which, due to the combination of universal and specialized approaches, software, and hardware, ensures the effective implementation of neuro-like algorithms for cryptographic encryption and decryption of data in real-time. The specialized hardware for neural network cryptographic data encryption was developed using VHDL for equipment programming in the Quartus II development environment ver. 13.1 and the appropriate libraries and implemented on the basis of the FPGA EP3C16F484C6 Cyclone III family, and it requires 3053 logic elements and 745 registers. The execution time of exclusively software realization of NN cryptographic data encryption procedure using a NanoPi Duo microcomputer based on the Allwinner Cortex-A7 H2+ SoC was about 20 ms. The hardware–software implementation of the encryption, taking into account the pre-calculations and settings, requires about 1 msec, including hardware encryption on the FPGA of four 2-bit inputs, which is performed in 160 nanoseconds.
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(This article belongs to the Topic Design, Simulation and New Applications of Unmanned Aerial Vehicles)
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Robust Multiple Unmanned Aerial Vehicle Network Design in a Dense Obstacle Environment
Drones 2023, 7(8), 506; https://doi.org/10.3390/drones7080506 - 02 Aug 2023
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Highly robust networks can resist attacks, as when some UAVs fail, the remaining UAVs can still transmit data to each other. In order to improve the robustness of a multi-UAV network, most methods construct the network by adjusting the positions of the UAVs
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Highly robust networks can resist attacks, as when some UAVs fail, the remaining UAVs can still transmit data to each other. In order to improve the robustness of a multi-UAV network, most methods construct the network by adjusting the positions of the UAVs and adding a large number of links. However, having a large number of links greatly consumes communication resources and increases serious signal interference. Therefore, it is necessary to study a method that can improve robustness and reduce the number of links. In this paper, we propose a method that consists of combining formation control and link selection, which can work in a distributed manner. For formation control, our method keeps the UAVs compact in the obstacle environment through an improved artificial potential field. The compact formation enables UAVs to have a large number of neighbors. For link selection, reinforcement learning is used to improve the robustness of the network and reduce the number of network edges. In the simulation of the 3D urban environment, three failure modes are used to verify the robustness of the network. The experimental results show that even if the number of links is reduced by , the networks designed by our method still have strong robustness.
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Deep Learning Models Outperform Generalized Machine Learning Models in Predicting Winter Wheat Yield Based on Multispectral Data from Drones
Drones 2023, 7(8), 505; https://doi.org/10.3390/drones7080505 - 02 Aug 2023
Abstract
Timely and accurate monitoring of winter wheat yields is beneficial for the macro-guidance of agricultural production and for making precise management decisions throughout the winter wheat reproductive period. The accuracy of crop yield prediction can be improved by combining unmanned aerial vehicle (UAV)-based
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Timely and accurate monitoring of winter wheat yields is beneficial for the macro-guidance of agricultural production and for making precise management decisions throughout the winter wheat reproductive period. The accuracy of crop yield prediction can be improved by combining unmanned aerial vehicle (UAV)-based multispectral data with deep learning algorithms. In this study, 16 yield-sensitive vegetation indices were constructed, and their correlations were analyzed based on UAV multispectral data of winter wheat at the heading, flowering, and filling stages. Seven input variable sets were obtained based on the combination of data from these three periods, and four generalized machine learning algorithms (Random Forest (RF), K-Nearest Neighbor (KNN), Bagging, and Gradient Boosting Regression (GBR)) and one deep learning algorithm (1D Convolutional Neural Network (1D-CNN)) were used to predict winter wheat yield. The results showed that the RF model had the best prediction performance among the generalised machine learning models. The CNN model achieved the best prediction accuracy based on all seven sets of input variables. Generalised machine learning models tended to underestimate or overestimate yields under different irrigation treatments, with good prediction performance for observed yields < 7.745 t·ha−1. The CNN model showed the best prediction performance based on most input variable groups across the range of observed yields. Most of the differences between observed and predicted values (Yi) for the CNN models were distributed between −0.1 t·ha−1 and 0.1 t·ha−1, and the model was relatively stable. Therefore, the CNN model is recommended in this study for yield prediction and as a reference for future precision agriculture research.
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(This article belongs to the Special Issue Advances of UAV Remote Sensing for Plant Phenology)
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Multi-UAV Cooperative Obstacle Avoidance of 3D Vector Field Histogram Plus and Dynamic Window Approach
Drones 2023, 7(8), 504; https://doi.org/10.3390/drones7080504 - 02 Aug 2023
Abstract
In this paper, we propose a fusion algorithm that integrates the 3D vector field histogram plus (VFH+) algorithm and the improved dynamic window approach (DWA) algorithm. The aim is to address the challenge of cooperative obstacle avoidance faced by multi-UAV formation flying in
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In this paper, we propose a fusion algorithm that integrates the 3D vector field histogram plus (VFH+) algorithm and the improved dynamic window approach (DWA) algorithm. The aim is to address the challenge of cooperative obstacle avoidance faced by multi-UAV formation flying in unknown environments. First, according to the navigation evaluation function of the standard DWA algorithm, the target distance is introduced to correct the azimuth. Then, aiming at the problem that the fixed weight mechanism in standard DWA algorithm is unreasonable, we combine the A* algorithm and introduce variable weight factors related to azimuth to improve the target orientation ability in local path planning. A new rotation cost evaluation function is added to improve the obstacle avoidance ability of two-dimensional UAV. Then, 3D VFH+ algorithm is introduced and integrated with improved DWA algorithm to design a distributed cooperative formation obstacle avoidance control algorithm. Simulation validation suggests that compared with the traditional DWA algorithm, the improved collaborative obstacle avoidance control algorithm can greatly optimize the obstacle avoidance effect of UAVs’ formation flight.
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(This article belongs to the Special Issue Intelligent Autonomous Control and Swarm Cooperative Control of Unmanned Systems)
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Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind Disturbances
Drones 2023, 7(8), 503; https://doi.org/10.3390/drones7080503 - 01 Aug 2023
Abstract
Fault detection (FD) and fault-tolerant cooperative control (FTCC) strategies are proposed in this paper for multiple fixed-wing unmanned aerial vehicles (UAVs) under actuator faults, sensor faults, and wind disturbances. Firstly, the faulty model is introduced while the effectiveness loss, deviation of thrust throttle
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Fault detection (FD) and fault-tolerant cooperative control (FTCC) strategies are proposed in this paper for multiple fixed-wing unmanned aerial vehicles (UAVs) under actuator faults, sensor faults, and wind disturbances. Firstly, the faulty model is introduced while the effectiveness loss, deviation of thrust throttle setting, and pitot sensor faults are considered. Secondly, the faulty UAV model with wind disturbances is linearized and the system is then converted into two subsystems by using state and output transformations. Further, cooperative unknown input observers (UIOs) are developed to estimate the faults, disturbances, and states. By combining with the observers’ estimations, adaptive thresholds are designed to detect actuator and sensor faults in the system. Then, considering state constraints, a backstepping-based FTCC scheme is proposed for multiple UAVs (multi-UAVs) suffering from actuator faults, sensor faults, and wind disturbances. It is shown by Lyapunov analysis that the tracking errors are fixed-time convergent. Finally, the effectiveness of the FD and FTCC scheme is verified by numerical simulation.
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(This article belongs to the Topic Perspectives in Fault Diagnosis and Fault Tolerant Control)
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Open AccessArticle
A Q-Learning-Based Two-Layer Cooperative Intrusion Detection for Internet of Drones System
Drones 2023, 7(8), 502; https://doi.org/10.3390/drones7080502 - 01 Aug 2023
Abstract
The integration of unmanned aerial vehicles (UAVs) and the Internet of Things (IoT) has opened up new possibilities in various industries. However, with the increasing number of Internet of Drones (IoD) networks, the risk of network attacks is also rising, making it increasingly
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The integration of unmanned aerial vehicles (UAVs) and the Internet of Things (IoT) has opened up new possibilities in various industries. However, with the increasing number of Internet of Drones (IoD) networks, the risk of network attacks is also rising, making it increasingly difficult to identify malicious attacks on IoD systems. To improve the accuracy of intrusion detection for IoD and reduce the probability of false positives and false negatives, this paper proposes a Q-learning-based two-layer cooperative intrusion detection algorithm (Q-TCID). Specifically, Q-TCID employs an intelligent dynamic voting algorithm that optimizes multi-node collaborative intrusion detection strategies at the host level, effectively reducing the probability of false positives and false negatives in intrusion detection. Additionally, to further reduce energy consumption, an intelligent auditing algorithm is proposed to carry out system-level auditing of the host-level detections. Both algorithms employ Q-learning optimization strategies and interact with the external environment in their respective Markov decision processes, leading to close-to-optimal intrusion detection strategies. Simulation results demonstrate that the proposed Q-TCID algorithm optimizes the defense strategies of the IoD system, effectively prolongs the mean time to failure (MTTF) of the system, and significantly reduces the energy consumption of intrusion detection.
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(This article belongs to the Special Issue UAV-Assisted Internet of Things)
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Decomposition and Modeling of the Situational Awareness of Unmanned Aerial Vehicles for Advanced Air Mobility
by
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Drones 2023, 7(8), 501; https://doi.org/10.3390/drones7080501 - 01 Aug 2023
Abstract
The use of unmanned aerial aircrafts (UAVs) is governed by strict regulatory frameworks that prioritize safety. To guarantee safety, it is necessary to acquire and maintain situational awareness (SA) throughout the operation. Existing Canadian regulations require pilots to operate their aircrafts in the
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The use of unmanned aerial aircrafts (UAVs) is governed by strict regulatory frameworks that prioritize safety. To guarantee safety, it is necessary to acquire and maintain situational awareness (SA) throughout the operation. Existing Canadian regulations require pilots to operate their aircrafts in the visual line-of-sight. Therefore, the task of acquiring and maintaining SA primary falls to the pilots. However, the development of aerial transport is entering a new era with the adoption of a highly dynamic and complex system known as advanced air mobility (AAM), which involves UAVs operating autonomously beyond the visual line-of-sight. SA must therefore be acquired and maintained primarily by each UAV through specific technologies and procedures. In this paper, we review these technologies and procedures in order to decompose the SA of the UAV in the AAM. We then use the system modeling language to provide a high-level structural and behavioral representation of the AAM as a system having UAV as its main entity. In a case study, we analyze one of the flagship UAVs of our industrial partner. Results show that this UAV does not have all of the technologies and methodologies necessary to achieve all of the identified SA goals for the safety of the AAM. This work is a theoretical framework intended to contribute to the realization of the AAM, and we also expect to impact the future design and utilization of UAVs.
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(This article belongs to the Special Issue Conceptual Design, Modeling, and Control Strategies of Drones-II)
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