Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) (Lecture Notes in Electrical Engineering, 1010)

Preface Organization Contents Online Compensation Method for Inertial Device Error of Airborne UAV 1 Introduction 2 Inertial Device Error Model 2.1 Inertial Device Systematic Error 2.2 Inertial Device Random Error 2.3 Zero Bias Model Under the Influence of Temperature 3 Online Error Compensation by Neural Network 3.1 BP Neural Network 3.2 Design of Online Error Compensation of Inertial Device 3.3 Neural Network Structure Design 4 Simulation Analysis 4.1 Simulation Condition Settings 4.2 Simulation Results and Analysis of Inertial Device Output 5 Summary References Robust Multi-sensor Fusion via Factor Graph and Variational Bayesian Inference 1 Introduction 2 Information Fusion in Navigation Systems via Factor Graph 2.1 Problem Formulation 2.2 Factor Graph Model 2.3 Gaussian Noise Case 3 Variational Bayesian Inference-Based Graph Factor 3.1 Variational Approximation for Posterior Distribution 3.2 Robust Algorithm 4 Computer Simulations 4.1 Simulation and Analysis 5 Conclusion References Modified ITO Algorithm for Path Planning of Multi-UAVs 1 Introduction 2 Modeling for Solution 3 Modified ITO Algorithm 3.1 Modified Environment Temperature Regulating Function 3.2 Wave Operator 3.3 Drift Operator 3.4 Introduction of 2-OPT Local Optimization Algorithm 4 Experiment and Analysis 5 Conclusion References Optimization of Formation Configuration of Space-Based Radar Networking Based on Combined Chaotic Fireworks Algorithm 1 Preface 2 Standard Fireworks Algorithm 3 Combined Chaotic Fireworks Algorithm 4 Optimization of Formation Configuration of Space-Based Radar Network Based on CCFWA 4.1 Detection Principle 4.2 Performance Indicators 4.3 Simulation Example References Underwater Acoustic Self-Guided Weapon Target Recognition Based on Multi-feature and Multi-model Stacking Ensemble Learning 1 Introduction 2 Introduction to Algorithm Theory 2.1 Ensemble Learning Method Based on Stacking 2.2 Random Forest 2.3 Gradient Boosting Decision Tree 3 Underwater Acoustic Target Recognition Based on the Multi-feature Multi-model Stacking Ensemble Learning Method 3.1 Preprocessing and Feature Extraction 3.2 Base Learner Select and Stacking Ensemble Learning 4 Experimental Results and Analysis 4.1 Dataset and Evaluation Indicators 4.2 Experimental Results and Analysis 5 Conclusions References Multi-obstacle Avoidance of UAV Based on Improved Q Learning Algorithm 1 Introduction 2 Formulate Problem 2.1 UAV Model 2.2 Description of UAV Collision Problem 2.3 Decision Variable 3 Obstacle Avoidance Algorithm Based on Q Learning 3.1 Q Learning Obstacle Avoidance Algorithm Design 3.2 Q Learning Obstacle Avoidance Algorithm Design 4 Simulation Experiment 4.1 Parameter Setting 4.2 Map Modeling 4.3 Analysis of Results 5 Conclusion References An Efficiently Computable Metric for Multiple Extended Target Tracking 1 Introduction 2 Shape Parameters RMSE for Extended Target 2.1 Star-Convex Set Model 2.2 IOU 2.3 SP-RMSE 3 SP-OSPA-to-OSPA Distance for Multiple Extended Targets 3.1 OSPA-to-OSPA Distance 3.2 SP-OSPA-to-OSPA Distance 4 Example Scenarios 4.1 Single Extended Target Scenario 4.2 Multiple Extended Target Scenario 5 Conclusion References Joint Radar Selection and Resource Allocation for Multi-Target Tracking in Multiple Radar Networks with Non-ideal Detection Performance 1 Introduction 2 System Model 2.1 Target Dynamic Model 2.2 Radar Measurement Model 3 Proposed JRSRA Scheme 3.1 Problem Formulation 3.2 Solution Technique 4 Simulation Results 5 Concluding Remarks References Research on Regional Coordinated Navigation and Positioning of Cluster Aircraft Based on Relative Distance 1 Introduction 2 Relative Distance-Based Cooperative Positioning Scheme for Cluster Vehicles 3 Collaborative Localization Model and Algorithm Based on Relative Distance Information 3.1 Cooperative Positioning Model of Cluster Vehicles Based on Relative Distance Difference 3.2 Co-localization Algorithm Based on Spherical Interpolation Algorithm 4 Experimental Measurements of Regional Cooperative Navigation and Positioning of Cluster Vehicles 4.1 Clustered Aircraft Cooperative Positioning System Implementation 4.2 Dynamic Cooperative Navigation and Positioning Experiments 5 Conclusion References Enhanced Reinforcement Learning Method Based on AlphaGo-Zero 1 Introduction 2 Related Work 2.1 Reinforcement Learning 2.2 Gomoku 3 Methods 3.1 Gomoku System Based on AlphaGo-Zero 3.2 Implementation of vct/vcf Agent 4 Experiment 4.1 Train with Self-play 4.2 Train with vct/vcf Agent 5 Conclusion References Research on Distributed Task Decision-Making Method of UAV Swarm Based on Information Consistency 1 Introduction 2 Modeling of Distributed Task Allocation for UAV Swarms 3 Distributed Method Based on Information Consistency 3.1 Distributed Task Allocation Algorithm 3.2 Event-Triggered Decision-Making Rule of Distributed Task 4 Simulations and Analysis 4.1 Strike Mode 4.2 Strike Probability 4.3 Strike Benefits 4.4 Communication Topology 5 Conclusion References A Building Block Assembly Based Modular Microsatellite Scheme 1 Introduction 2 The Architecture of the Modular Microsatellite System 2.1 Plug-and-Play Hardware 2.2 Reconfigurable Onboard Software 2.3 Rapid Integration and Test System (RISS) 3 Case Test and Discussion 3.1 Case and Results 3.2 Discussion 4 Conclusion References A Remote Multi-UAV Control System Based on Smart Device 1 Introduction 2 A Remote Multi-UAV Control System 2.1 Structure of the Remote Multi-UAV Control System 2.2 Mobile Phone-Based Drone Control Platform 3 Experimental Results 3.1 Single Drone Control 3.2 Single Drone Control 4 Conclusion References Multi-sensor Data Fusion for UAV Landing Based on Federal Variational Bayesian Filtering 1 Introduction 2 System Design 3 Robust Kalman Filtering Based on Information Fusion and Variational Bayesian Approximation 3.1 The Variational Bayesian Adaptive Kalman Filter 3.2 Robust Federal Variational Bayesian Kalman Filtering 4 Simulation 4.1 Simulation Environment 4.2 Simulation Results 5 Conclusion References Asynchronous and Decentralized Multiagent Trajectory Planning in Dense Environments 1 Introduction 2 Problem Formulation 2.1 Trajectory Representation 2.2 Safty and Kinematic Constraints 2.3 Optimization Problem 3 Construction of OLFC and Deconfliction 3.1 Construction of OLFC 3.2 Deconfliction 4 Result 5 Conclusion References Sensing Unit for Self-identifying of Spacecraft Electrostatic Risk 1 Introduction 2 Method 2.1 Principle of Measurement 2.2 Sensing Performance Analysis 3 Sensing Performance 3.1 The Composition of the Sensing System 3.2 Sensing Area 3.3 Sensitivity 4 Identification of Electrostatic Risk 5 Conclusion References A Centerless Network-Enable Cooperative Relative Positioning Method for Multi-drones in Non-GNSS Area 1 Introduction 2 Rigid Frame Cooperative Positioning Method 2.1 Overview 2.2 Rigid Frame Positioning Algorithm 3 Cooperative Relative Positioning Experiments 3.1 Wireless Static Test 3.2 Wireless Flight Test 4 Conclusions References Towards Intelligent UAV Swarm Mission Planning Methodology and Algorithms 1 Introduction 2 Rule-Based Mission Planning Approach 2.1 Multilink Generation 2.2 Architecture Driven 2.3 Multi-objective Planning 3 Task Planning Method for Real-Time Training 4 Some Points of the Research Direction 4.1 Flexible Elastic Adaptation Mechanism 4.2 UAV Swarm Configuration Mechanism Design 4.3 Research Direction in Model 4.4 Research Direction of Algorithm 5 Conclusion References Dynamic Target Tracking and Localization for Small UAV in Unstructured Outdoor Environment 1 Introduction 2 System Framework 3 Tracking and Localization Approach 3.1 Tracking, Detection and Checking 3.2 Dynamic Results Checking and Target Recapture 3.3 Target Localization Based on RGB-d Camera 4 Dynamic Target Tracking and Localization Experiment in Groves Environment 4.1 DTC-Tracker Module Experiment 4.2 Hardware Setup 4.3 Tracking and Localization Experiment 5 Conclusions References Research on the Selection Method of PFC Parameters 1 Introduction 2 Predictive Functional Control 3 Selection of T0 4 Selection of Nc 5 Simulations and Results 6 Conclusion References Tracking the Underwater Moving Dipole with the Artificial Lateral Line Based on the PAST and KF 1 Introduction 2 Method 2.1 Problem Formulation 2.2 Tracking Method 2.3 Optimization Method 3 Experiment 4 Results 5 Conclusion References Collision Avoidance Formation Control of Fixed-Wing UAVs with Nonholonomic Kinematic Constraints 1 Introduction 2 Problem Formulation 3 Proposed Approach 3.1 Separation of Motion 3.2 Priority Index 3.3 Collision Avoidance Based on Voronoi Partition 3.4 Control Law Design Based on Artificial Potential Field 3.5 Distributed Trajectory Assignment Optimization Rule Setting 4 Simulation 4.1 Simulation Setup 4.2 Simulation Result 5 Conclusion References Vehicle-Edge-Cloud Integrated Communication and Computing Testbed for Intelligent Transportation Systems 1 Introduction 2 Vehicle-Edge-Cloud System 3 Testbed Description 3.1 Multi-sensor Hardware Assembly 3.2 Communication Module Integration 4 Experiments 4.1 Experimental Process 4.2 Experiment Result 5 Conclusion References Cooperative Adaptive Cruise Control and Decision Making for Fuel-Efficient Vehicle Platooning 1 Introduction 2 Architecture of CACC System 2.1 The Simulink Model 3 Control and Decision 3.1 Control Algorithm Based on MPC 3.2 Decision According to Fuel Economy 4 Simulation 4.1 Simulation Environment and Experiment Parameter Design 4.2 Experiment Result 5 Conclusion References A Short Overview on Low-Density Ablators for Unmanned Vehicle 1 Development of Low Density Ablative Materials 2 Research Advancement of Phenolic Aerogels 3 Research Advancement of Inorganic Doped Phenolic Aerogels 4 Conclusions References A Sliding Mode Terminal Guidance Law Based on Reinforcement Learning Method 1 Introduction 2 Establishment of Aircraft Motion Model 3 Design of Sliding Mode Guidance Law 4 Reinforcement Learning Method to Adjust the Parameters of Sliding Mode Guidance Law 5 Simulation Verification 6 Conclusion References Vision Based Target Following UGV System Using YOLOv5 and ROS Platform 1 Introduction 2 Target Following UGV System Framework 3 Algorithm Design and Implementation of Each Module 3.1 Hand Gesture Detection 3.2 Target Detection Algorithm 3.3 Target Tracking Algorithm 3.4 Target Position Estimation 3.5 State Machine Design 3.6 Motion Controller 4 Experiments and Results 4.1 Target Following UGV Platform 4.2 Target Following Experiment in Indoor Environment 5 Conclusion References Online Trajectory Optimization Method for Autonomous Obstacle Avoidance and Swift Maneuvering of Quadrotor UAV 1 Introduction 2 Problem Formulation 3 Problem Convexification and Discretization 4 Design of Sequential Convexification Algorithm 5 Simulation Experiment of Trajectory Optimization 6 Conclusion References Research on Intelligent Cooperative Command and Control System of Unmanned Equipment in Amphibious Operations 1 Introduction 2 Requirements Analysis of Unmanned Equipment in Amphibious Operations 2.1 Basic Composition of Unmanned Forces in Amphibious Operations 2.2 Typical Operational Missions of Unmanned Forces in Amphibious Operations 2.3 Command and Control Relationship of Unmanned Forces in Amphibious Operations 2.4 Operational Modes of Unmanned Equipment in Amphibious Operations 3 Development and Trend of Unmanned Equipment and Its Command and Control Systems 3.1 Development Status and Trend Abroad 3.2 Domestic Development Status and Trend 3.3 Major Differences 4 Conception of Intelligent Cooperative Command and Control Systems of Unmanned Equipment in Amphibious Operations 4.1 Connotation of Intelligent Cooperative Command and Control Systems of Unmanned Equipment in Amphibious Operations 4.2 Framework of Intelligent Cooperative Command and Control Systems of Unmanned Equipment in Amphibious Operations 4.3 Conception of Cooperative Command and Control Systems of Unmanned Equipment in Amphibious Operations 4.4 Functional Division of Cooperative Command and Control System of Unmanned Equipment in Amphibious Operations 5 Key Technologies of Intelligent Cooperative Command and Control of Unmanned Equipment in Amphibious Operations 5.1 Cooperative Intelligent Mission Planning Technology for Unmanned Warfare 5.2 Cooperative Intelligent Route Planning Technology for Unmanned Warfare 5.3 Multi-source Information Intelligence Processing Technology of Unmanned Battlefield Equipment 5.4 Cooperative Intelligent Decision Technology for Unmanned Warfare 5.5 Cooperative Integrated Control Technology of Large-Scale Cross Domain of Unmanned Equipment 5.6 Effect Evaluation Technology of Land-Attacking Based on Image Understanding 6 Conclusions References Annular Wing Aircraft Based on BWB and Coanda Effect 1 Introduction 2 Brief Analysis of Advantages and Disadvantages of BWB 3 Brief Analysis of the Advantages of Annular Wing 4 Applications of Coanda Effect in Aviation 5 Annular Wing Aircraft Based on BWB and Coanda Effect 5.1 Overall Introduction to the Annular Aircraft 5.2 Innovation 6 Analyse 7 Application 7.1 Design Parameters 7.2 Operational Philosophy 8 Conclusion References An Unmanned Photoelectric Measurement System of Recoverable Spacecraft Based on Virtual Reality and Somatosensory Control Technology 1 Introduction 1.1 Mission Situation and Matters in Engineering of Aerospace Search and Rescue 1.2 Key Technologies and Research Status 2 Main Functions 3 Overall Design of the System 3.1 Optical Measurement Module 3.2 Communication and Image Transmission Module 3.3 Somatosensory Control Module 3.4 Virtual Reality Module 4 Application Mode 4.1 Fixed Station 4.2 Installed on Mobile Platforms 4.3 Fixed Station with Communication Relay 5 Conclusion References Implementation Method of Deep Learning in the Field of Unmanned Transportation System Collision Avoidance 1 Introduction 2 Characteristic Analysis of Unmanned Transportation System to Avoid Collision 3 Algorithm Selection of Unmanned Transportation System to Avoid Collision 4 Analysis of Action Space Requirements of Unmanned Transportation System to Avoid Collision 5 State Space Analysis and Reward Function Design of Unmanned Transportation System to Avoid Collision 6 Training Method of Unmanned Transportation System to Avoid Collision 7 Interactive Mode of Collision Avoidance Data in Unmanned Transportation System 8 Summary References Research on the Architecture of Ground Unmanned System Based on Software Definition 1 Introduction 2 Impact of Software-Defined Technology on the Ground Unmanned System 3 Architecture of the Software-Defined Ground Unmanned System 3.1 Overall Architecture 3.2 Hardware Architecture 3.3 Software Architecture 4 Conclusion References Optimal Stiffness Design of a Twistable Flapping Rotary Wing in Hovering Flight 1 Introduction 2 Material and Methods 2.1 Wing Structure and Kinematics 2.2 Quasi-steady Aerodynamic Model 2.3 Equation of Motion 2.4 Genetic Algorithm 3 Results and Discussions 3.1 Case 1: Optimization for the Lift Maximum 3.2 Case 2: Optimization for the Lift-To-Power Ratio Maximum 4 Conclusion References Autonomous Path Planning Method Based on Marine Environmental Information 1 Introduction 2 Preprocessing of Chart Data 2.1 Extraction of Chart Data 2.2 Submarine Topography Construction Based on the Biharmonic Spline Interpolation Method 3 Autonomous Path Planning Method 3.1 Triangular Obstacle Recognition Method 3.2 The A* Algorithm Based on 3D Obstacle Recognition 3.3 The PSO Algorithm Base on 3D Obstacle Recognition 4 Simulation 4.1 Simulation Result of A* Algorithm Based on 3D Obstacle Recognition 4.2 Simulation Result of PSO Algorithm Based on 3D Obstacle Recognition 5 Conclusion References Sensor Fault Detection for Unmanned Underwater Vehicles: A Zonotopic Approach 1 Introduction 2 Preliminaries and Problem Formulation 2.1 Preliminaries 2.2 Problem Formulation 3 Main Results 3.1 Disturbance Robustness Condition 3.2 Fault Sensitivity Condition 3.3 Fault Detection Observer Design 3.4 Fault Detection Logic 4 Simulation 5 Conclusion References Sliding Mode Cooperative Guidance Law Based on RBF Neural Network Gain Regulation 1 The Introduction 1.1 3-D Projectile Convergence Model 1.2 Relative Movement Model Between Missile and Target 2 Guidance Law Design 3 Gain Adaptive Adjustment Based on Radial Basis Neural Network 4 Simulation Analysis 5 Cooperative Guidance Law 6 Conclusion References Formation Control Approach for Multi-UAV System Based on Consensus Method 1 Introduction 2 Problem Formulation 2.1 UAV Kinematics 2.2 UAVs Formation Model 2.3 Cooperative Variables 2.4 Control Objective 3 Main Results 3.1 Consensus Formation Control Algorithm 3.2 Convergence Analysis 4 Numerical Simulations 5 Conclusion References Coactive Design of Human-UGV Teamwork Using Augmented Reality 1 Introduction 2 Task Scenarios 3 Coactive Design of Human-UGV Teamwork 4 System Design 4.1 Construction of UGV Platform 4.2 Construction of Hololens2 Interactive Platform 4.3 Communication Between UGV and Hololens2 5 Experiments and Result 5.1 Demonstration of Scene Construction 5.2 Assessment of Interaction 6 Conclusion References A New Distributed BRB-Based Fault Diagnosis Method for Multi-Agent Systems 1 Introduction 2 Problem Formulation 3 Construction of the Distributed Fault Diagnosis Model 3.1 Inference of the Distributed Fault Diagnosis Model 3.2 Optimization Model of BRB in the Distributed Model 4 Case Study 5 Conclusion References Analysis on Influences of Unmanned Sensorcraft Wing Deformation Parameters on Conformal Antenna 1 Introduction 1.1 A Subsection Sample 2 Aerodynamic Configuration of Unmanned Sensorcraft 3 Analysis of Wing Deformation of Unmanned Sensorcraft 3.1 Bearing Capacity Analysis Method for a Multi-material Wing 3.2 Analysis of Influences on Wing Shape Parameters on Deformation 3.3 Analysis of Influences on Aircraft Altitude and Speed on Deformation 4 Analysis of Influences on Wing Deformation Parameters on Radiation Pattern 5 Conclusion References Multi-target Association for UAVs Based on Target-environment Dual-Stream Siamese Neural Network 1 Introduction 2 Related Works 3 Target Detection and Association Algorithm Design 3.1 Design of Deep Convolutional Neural Networks for Small Object Detection 3.2 Design of Dual Data Stream Siamese Neural Network 4 Experiments and Analysis 4.1 Detection Test on Small Targets 4.2 Test on Multi-target Correlation 5 Conclusion References Similarity Evaluation Method of Robotic Cow-Nosed Ray Based on Shape Context Algorithm 1 Introduction 2 Structure of the Cow-Nosed Ray and Robotic Cow-Nosed Ray 2.1 Biological Structural Characteristics of the Cow-Nosed Ray 2.2 The Structure of the Robotic Cow-Nosed Ray 3 Similarity Evaluation Method 3.1 Profile Extraction and Profile Point Sampling 3.2 Similarity Evaluation Matrix 3.3 Shape Context Distance 3.4 Overall Similarity Value 4 Similarity of the Robotic Cow-Nosed Ray 5 Conclusion References Hierarchical Distributed Control of UAV Cluster Based on the Behavior of Chickens 1 Introduction 2 UAV Cluster Control Structure 3 UAV Cluster Control Model 3.1 Communication Topology 3.2 UAV Flight Dynamics Model 4 UAV Formation Control Method 4.1 Control Method of Group Lead Aircraft 4.2 Control Method of Following UAV Within the Group 4.3 Relationship Between Force and Speed 5 Simulation Verification and Analysis 6 Conclusion References Intelligent Trajectory Predicting of Hypersonic Vehicle Using LSTM 1 Introduction 2 Experimental Data Generation of Hypersonic Target Trajectory 2.1 Sliding Target Motion Model 2.2 Experimental Data Set Generation 3 Construction of Hypersonic Target Trajectory Prediction Model 3.1 Data Normalization 3.2 Construction of LSTM Prediction Model 4 Simulation Analysis 4.1 Network Training 4.2 Analysis of Prediction Results 4.3 Model Adaptability Analysis 5 Conclusion References GNSS Spoofing Detection via Power and Code Phase Monitoring 1 Introduction 2 Measurement Models 2.1 Signal Models 2.2 Code Phase Measurement 2.3 Power Measurement 3 Hypothesis Testing and Decision Rules 3.1 Hypothesis Testing 3.2 Decision Rules 3.3 Monte-Carlo Experiments 4 Experimental Results 5 Conclusion References Lidar-Artificial-Marker Odometry for a Surface Climbing Robot via Factor Graph 1 Introduction 2 Lidar-Artificial-Marker Odometry 2.1 Contour Extraction and Corner Extraction 2.2 Correcting Tag Pose Using Lidar 2.3 Tightly-Coupled Lidar Tag Odometry 2.4 Factor Graph Optimization 3 Experiment 3.1 Experimental Result About Contour and Corner Extraction 3.2 Experimental Result About Tag Pose Correction 3.3 Experimental Result Localization Results 4 Conclusion References Depth Control of a Manta Robot Based on Fuzzy S-plane Control 1 Introduction 2 Overview of Manta Robot 2.1 Mechanical Structure 2.2 Hardware System 3 Fuzzy S-plane Depth Controller Design 3.1 Analysis of Tail Fin Motion of Manta Robot 3.2 Fuzzy S-plane Based Depth Controller Design 4 Experiments and Results 4.1 Depth-Controlled Motion Experiments 4.2 Anti-interference Experiment 4.3 Depth Switching Experiment 5 Conclusions References Magnetic Pole Structure Optimization of Electrical Machinery for Unmanned Underwater Vehicles 1 Introduction 2 Configurations of the Thruster Motor 2.1 The Combined Magnetic Pole Structure 2.2 Stator Structure 3 Electromagnetic Performance Analysis of Thruster Motors 4 Magnetic Pole Structure Optimization 4.1 Description of the Optimization Problem 4.2 Kriging Prediction Model 4.3 Optimization Algorithm and Results 5 Conclusion References Research on Unmanned System Task Coalition Problem Based on Shuffled Frog Leaping Algorithm 1 Introduction 2 Problem Definition and Mathematical Model 2.1 Problem Definition 2.2 Mathematical Model 3 Methodology 3.1 Solving Task Coalition Formation Problem Based on ISFLA 3.2 Dynamic Task Coalition Formation 4 Simulations 4.1 Multi-task Coalition Formation 5 Conclusion References Research on Grasping Detection Method of Manipulator Based on SOLOV2 1 Introduction 2 System Hardware Platform and Equipment Calibration 2.1 System Hardware 2.2 RGBD with Robot Arm for Hand-Eye Calibration 2.3 Hand-Eye Calibration Principle 3 Target Detection Model 3.1 SOLOV2 Model 3.2 Improved SOLOV2 Model 3.3 RGB Segmentation Results 3.4 Performance Evaluation of the Model 3.5 Get Target Distance 4 Crawl-Oriented Detection and Verification 4.1 Hand-Eye Calibration Results 4.2 Algorithm Flow 4.3 Crawl Results and Real-Time Analysis 5 Conclusion References 6-DOF Reinforcement Learning Control for Multi-rotor and Fixed-Wing Aircrafts 1 Introduction 2 DRL Algorithms 3 Training and Simulation of Quadrotor Aircraft 3.1 Intelligent Controller Training 3.2 Simulation Results 4 Training and Simulation of Fixed-Wing Aircraft 4.1 Intelligent Controller Training 4.2 Simulation Results 5 Study on Network Structure of Intelligent Controller 6 Conclusion and Prospect References The Numerical Prediction and Optimization Design of Natural Laminar Airfoil for UAV 1 Introduction 2 Numerical Method 2.1 Three-Equation k-v 2- Transitional Turbulence Model 2.2 S809 Natural Laminar Airfoil 2.3 NLF0416 Natural Laminar Airfoil 3 Optimization of Natural Laminar Airfoil for UAV 3.1 CST Modeling Method for Airfoil 3.2 The Optimization Strategy of UAV Laminar Airfoil 4 Conclusion References Drone Altitude Control with Reinforcement Learning 1 Introduction 2 Reinforcement Learning Algorithm 2.1 Markov Decision Process (MDP) 2.2 SAC Algorithm 2.3 SDE + SAC Algorithm 3 The Simulation Results 4 Conclusion References An Enhanced Particle Swarm Optimization for Optimal Search Capability of Blended-Wing-Body Underwater Glider 1 Introduction 2 Search Mechanism of BWBUG 2.1 Target Motion Analysis 2.2 Motion Analysis for BWBUG 2.3 Detection Model of BWBUG 3 Optimal Search Capability of BWBUG 4 Enhanced Particle Swarm Optimization (EPSO) 4.1 Particle Swarm Optimization (PSO) 4.2 Rayleigh Distribution 4.3 Inertia Weight with Reduced Nonlinearity 4.4 Differential Evolution 4.5 Steps of EPSO 5 Simulation and Analysis 5.1 Simulation Description 5.2 Optimal Search Path Analysis 6 Conclusion References Research on 3D Modeling Method of Unmanned System Based on ORB-SLAM and Oblique Photogrammetry 1 Introduction 2 Monocular Vision SLAM Algorithm Principle 2.1 Basic Concepts 2.2 ORB Feature Point Extraction 2.3 Camera Pose Estimation Method Based on Feature Point Matching 2.4 Error Evaluation 3 Oblique Photogrammetry 3D Modeling 3.1 Oblique Photogrammetry Technology 3.2 3D Modeling System 3.3 Test Results 4 Results Analysis 5 Summary References A Multi-UAV Joint Search Method with Repeated Coverage Avoidance Based on Potential Game 1 Introduction 2 Theoretical Background and Definitions 3 Cooperative Search Model 4 Two-Stage Learning Algorithm 4.1 First Stage - Greedy Strategy for an Approximate Optimal Solution 4.2 Second Stage - BLL Algorithm for Optimal Nash Equilibrium 5 Simulations 5.1 Repeated Coverage Avoidance Model and Two-Stage Learning Algorithm 5.2 With or Without Repeated Coverage Avoidance 5.3 Greedy Strategy and BLL Algorithm 6 Conclusions References Dynamic Performance Evaluation of Air-to-Air Missiles Based on Deep Learning 1 Introduction 2 Missile Attack and Defense Confrontation Model 3 Dynamic Performance Evaluation Model 3.1 Input Features and Feasible Range 3.2 Network Structure 3.3 Evaluation Metrics 4 Simulation Analysis 4.1 Data Pre-Processing 4.2 Training Process 4.3 Analysis of Results 5 Concluding Remarks References Navigation for Prioritized Wildfire Boundary Tracking 1 Introduction 2 Problem Formulation 2.1 Wildfire Modelling 2.2 UAV Model 2.3 Problem Statement 3 Method 3.1 Moving Direction Identification 3.2 Model-free Guidance 4 Simulation Results 5 Conclusion References An Accurate and Robust Comparison Method of the Intelligence for Two Unmanned Swarms Based on the Improved CRITIC and Hypothesis Test 1 The Proposed Comparison Method of the Intelligence for Two UMSs 2 Introduction 2.1 An Accidental Intelligence Evaluation 2.2 Comparison of the Intelligence for Two Evaluated UMSs 3 Case Study 3.1 Simulation of an UGV Swarm Specialized in Performing a Particular Pursuit Task 3.2 Calculation of Intelligence Evaluation Indexes 3.3 Comparison of the Intelligence for Two Evaluated UGV Swarms 3.4 Analysis of Evaluation Results 4 Conclusion References Influence of Muscle Flexibility on Propulsion Performance of Soft Flapping 1 Introduction 2 Experimental Model and Experimental System 2.1 Experimental Model Design 2.2 Experimental System 3 Experimental Model and Experimental System 3.1 Effect of Flexible Distribution of Bionic Muscle on Average Thrust 3.2 Effect of Flexible Distribution of Bionic Muscle on Lift 3.3 Effect of Flexible Distribution of Bionic Muscle on Push-Up Ratio 4 Conclusion References UAV Path Planning Based on Rolling Sine-Cosine Harris Hawks Optimization 1 Introduction 2 Model of Path Planning 2.1 Planning Space and Path Representation 2.2 Path Cost Analysis 3 Rolling SCHHO 3.1 Rolling Window Method 3.2 Improved Sine-Cosine Harris Hawks Optimization 3.3 Rolling SCHHO Procedure 4 Simulation Experiments 5 Conclusions References Research on Multi-vehicle Positioning Technology Based on Kalman Filter Algorithm 1 Introduction 2 Aircraft Cluster System Model 3 Kalman Filtering Algorithm 4 Simulation of Kalman filter algorithm for target tracking 4.1 Kalman filtering algorithm simulation 4.2 Extended Kalman Filtering Algorithm Simulation 5 Conclusion References Optimal Design and Motion Performance Analysis for the Novel Compound Amphibious Robot 1 Introduction 2 Dynamics and Kinematics Analysis of Propulsion Mechanisms 2.1 Turning Kinematics Analysis of Wheeled Propulsion Mechanism 2.2 Kinematics and Dynamics Modeling of the Undulatory Fin 2.3 Propeller Dynamics Model 3 Mechanism Design of Amphibious Robot 3.1 Main Component of the Robot 3.2 The Design of the Undulatory Fin 3.3 Design of Wheel Propulsion and Propeller Propulsion 3.4 Analysis of Multiple Motion Modes of the Amphibious Robot 4 Experiment 4.1 Robot Propulsion Performance Experiment 4.2 The Experiment of the Robot Multi-terrain Environment Passing 5 Conclusion References Cooperative Location Method of Multi-UAV Based on TDOA and FDOA 1 Introduction 2 WGS-84 Geodetic Coordinate System 3 TDOA/FDOA Positioning Model 4 TDOA/FDOA Joint Positioning Algorithm 4.1 Particle Swarm Optimization Algorithm 4.2 Specific Implementation Steps 5 Simulation Analysis 6 Conclusion References A Centralized Collaborative Monocular SLAM System with Relocalization 1 Introduction 2 Related Work 2.1 Visual SLAM 2.2 Collaborative SLAM 3 System Overview 3.1 Client Framework 3.2 Communication 3.3 Server Tasks 4 Experimental Results 5 Conclusion References Identification of Abnormal Monitoring Data of Unmanned Ship Diesel Engine Based on Information Entropy 1 Introduction 2 Abnormal Data Mining Method Based on Information Entropy 2.1 Basic Concepts and Definitions 2.2 Abnormal Data Mining Algorithm 3 Experimental Verification 4 Conclusion References Spatial Evasive Strategy for a Bank-to-Turn Hypersonic Vehicle with Autopilot Dynamics and Rigid Roll Rate Constraint 1 Introduction 2 Problem Formulation 3 Formal Analytic Solutions of Optimal Evasion and Interception Strategy 4 Feasible Evasive Strategy for Engineering Applications 4.1 Roll Rate Constraint 4.2 Formulation of Degenerated Suboptimal Swing Maneuver Strategy (DSSM) 5 Mathematical Simulation Results 5.1 Evaluation for Optimal Evasion Strategy 5.2 DSSM Strategy Validation and Analysis 6 Conclusions References Rethinking YOLOv5 with Feature Correlations for Unmanned Surface Vehicles 1 Introduction 2 Method 2.1 Overview 2.2 Spatial Feature Correlation Module 2.3 Channel Feature Correlation Module 2.4 Implementation Details 3 Experiments and Results 3.1 Datasets 3.2 Metrics 3.3 Comparison with Other Methods on SeaShips 3.4 Comparison with Other Methods on WSODD 3.5 Ablation Studies 4 Conclusion Ref