Unmanned Aerial Vehicle (UAV) has been widely used in a variety of application, and the target search is one of the hot issues in the UAV research fields. Compared with the single UAV, the multi-UAV system can be competent for more complex tasks, with higher execution efficiency and stronger robustness. However, there exist some new challenges in the multi-UAV cooperative search, such as collaborative control and search area covering problems. To complete these tasks efficiently, the cooperative search problem is modeled as a potential game, and a modified binary log linear learning (BLLL) algorithm is proposed in this paper, to solve the covering problem using multiple UAVs. Furthermore, to improve the cooperative control performance based on potential game theory, a novel action selection strategy for UAVs is proposed. This strategy can avoid a UAV wandering around at the zero utility area by exchanging the information with neighbors. Finally, various simulations are carried out. The experimental results show that the proposed method can effectively complete cooperative search tasks and has better performance than the original BLLL algorithm.INDEX TERMS Multiple UAVs, cooperative search, potential game, binary log linear learning algorithm.
The advent of Question Answering Systems (QASs) has been envisaged as a promising solution and an efficient approach for retrieving significant information over the Internet. A considerable amount of research work has focused on open domain QASs based on deep learning techniques due to the availability of data sources. However, the medical domain receives less attention due to the shortage of medical datasets. Although Electronic Health Records (EHRs) are empowering the field of Medical Question-Answering (MQA) by providing medical information to answer user questions, the gap is still large in the medical domain, especially for textual-based sources. Therefore, in this study, the medical textual question-answering systems based on deep learning approaches were reviewed, and recent architectures of MQA systems were thoroughly explored. Furthermore, an in-depth analysis of deep learning approaches used in different MQA system tasks was provided. Finally, the different critical challenges posed by MQA systems were highlighted, and recommendations to effectively address them in forthcoming MQA systems were given out.
The recommendation algorithm is a very important and challenging issue for a personal recommender system. The collaborative filtering recommendation algorithm is one of the most popular and effective recommendation algorithms. However, the traditional collaborative filtering recommendation algorithm does not fully consider the impact of popular items and user characteristics on the recommendation results. To solve these problems, an improved collaborative filtering algorithm is proposed, which is based on the Term Frequency-Inverse Document Frequency (TF-IDF) method and user characteristics. In the proposed algorithm, an improved TF-IDF method is used to calculate the user similarity on the basis of rating data first. Secondly, the multi-dimensional characteristics information of users is used to calculate the user similarity by a fuzzy membership method. Then, the above two user similarities are fused based on an adaptive weighted algorithm. Finally, some experiments are conducted on the movie public data set, and the experimental results show that the proposed method has better performance than that of the state of the art.
The visual simultaneous localization and mapping (SLAM) method under dynamic environments is a hot and challenging issue in the robotic field. The oriented FAST and Rotated BRIEF (ORB) SLAM algorithm is one of the most effective methods. However, the traditional ORB-SLAM algorithm cannot perform well in dynamic environments due to the feature points of dynamic map points at different timestamps being incorrectly matched. To deal with this problem, an improved visual SLAM method built on ORB-SLAM3 is proposed in this paper. In the proposed method, an improved new map points screening strategy and the repeated exiting map points elimination strategy are presented and combined to identify obvious dynamic map points. Then, a concept of map point reliability is introduced in the ORB-SLAM3 framework. Based on the proposed reliability calculation of the map points, a multi-period check strategy is used to identify the unobvious dynamic map points, which can further deal with the dynamic problem in visual SLAM, for those unobvious dynamic objects. Finally, various experiments are conducted on the challenging dynamic sequences of the TUM RGB-D dataset to evaluate the performance of our visual SLAM method. The experimental results demonstrate that our SLAM method can run at an average time of 17.51 ms per frame. Compared with ORB-SLAM3, the average RMSE of the absolute trajectory error (ATE) of the proposed method in nine dynamic sequences of the TUM RGB-D dataset can be reduced by 63.31%. Compared with the real-time dynamic SLAM methods, the proposed method can obtain state-of-the-art performance. The results prove that the proposed method is a real-time visual SLAM, which is effective in dynamic environments.
Autonomous robots are a hot research subject within the fields of science and technology, which has a big impact on social-economic development. The ability of the autonomous robot to perceive and understand its working environment is the basis for solving more complicated issues. In recent years, an increasing number of artificial intelligence-based methods have been proposed in the field of scene understanding for autonomous robots, and deep learning is one of the current key areas in this field. Outstanding gains have been attained in the field of scene understanding for autonomous robots based on deep learning. Thus, this paper presents a review of recent research on the deep learning-based scene understanding for autonomous robots. This survey provides a detailed overview of the evolution of robotic scene understanding and summarizes the applications of deep learning methods in scene understanding for autonomous robots. In addition, the key issues in autonomous robot scene understanding are analyzed, such as pose estimation, saliency prediction, semantic segmentation, and object detection. Then, some representative deep learning-based solutions for these issues are summarized. Finally, future challenges in the field of the scene understanding for autonomous robots are discussed.
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