Path planning algorithms are of paramount importance in guidance and collision systems to provide trustworthiness and safety for operations of autonomous unmanned aerial vehicles (UAV). Previous works showed different approaches mostly focusing on shortest path discovery without a sufficient consideration on local planning and collision avoidance. In this paper, we propose a hybrid path planning algorithm that uses an anytime graph-based path planning algorithm for global planning and deep reinforcement learning for local planning which applied for a real-time mission planning system of an autonomous UAV. In particular, we aim to achieve a highly autonomous UAV mission planning system that is adaptive to real-world environments consisting of both static and moving obstacles for collision avoidance capabilities. To achieve adaptive behavior for real-world problems, a simulator is required that can imitate real environments for learning. For this reason, the simulator must be sufficiently flexible to allow the UAV to learn about the environment and to adapt to real-world conditions. In our scheme, the UAV first learns about the environment via a simulator, and only then is it applied to the real-world. The proposed system is divided into two main parts: optimal flight path generation and collision avoidance. A hybrid path planning approach is developed by combining a graph-based path planning algorithm with a learning-based algorithm for local planning to allow the UAV to avoid a collision in real time. The global path planning problem is solved in the first stage using a novel anytime incremental search algorithm called improved Anytime Dynamic A* (iADA*). A reinforcement learning method is used to carry out local planning between waypoints, to avoid any obstacles within the environment. The developed hybrid path planning system was investigated and validated in an AirSim environment. A number of different simulations and experiments were performed using AirSim platform in order to demonstrate the effectiveness of the proposed system for an autonomous UAV. This study helps expand the existing research area in designing efficient and safe path planning algorithms for UAVs.

A critical drawback of battery-powered eVTOL UAVs is their limited range and endurance, and this drawback could be solved by using a combination of hydrogen fuel cells and batteries. The objective of this paper is to develop a sizing methodology for the lift+cruise-type eVTOL UAV powered by a hydrogen fuel cell and battery. This paper presents the constraints analysis method for forward flight/VTOL multi-mode UAV, the regression model for electric propulsion system sizing, a sizing method for an electric propulsion system and hydrogen fuel cell system, and a transition analysis method. The total mass of the UAV is iteratively calculated until convergence, and the optimization method is used to ensure that the sizing results satisfy the design requirements. The sizing results are the UAV’s geometry, mass, and power data. To verify the accuracy of the proposed sizing methodology, the sizing and the conceptual design phase results of a 25 kg hydrogen fuel-cell-powered UAV are compared. All parameters had an error within 10% and satisfied the design requirements.

The global variable-fidelity modelling (GVFM) method presented in this article extends the original variable-complexity modelling (VCM) algorithm that uses a low-fidelity and scaling function to approximate a high-fidelity function for efficiently solving design-optimization problems. GVFM uses the design of experiments to sample values of high- and low-fidelity functions to explore global design space and to initialize a scaling function using the radial basis function (RBF) network. This approach makes it possible to remove high-fidelity-gradient evaluation from the process, which makes GVFM more efficient than VCM for high-dimensional design problems. The proposed algorithm converges with 65% fewer high-fidelity function calls for a one-dimensional problem than VCM and approximately 80% fewer for a two-dimensional numerical problem. The GVFM method is applied for the design optimization of transonic and subsonic aerofoils. Both aerofoil design problems show design improvement with a reasonable number of high- and low-fidelity function evaluations.

Smart buildings in big cities are now equipped with an internet of things (IoT) infrastructure to constantly monitor different aspects of people’s daily lives via IoT devices and sensor networks. The malfunction and low quality of service (QoS) of such devices and networks can severely cause property damage and perhaps loss of life. Therefore, it is important to quantify different metrics related to the operational performance of the systems that make up such computational architecture even in advance of the building construction. Previous studies used analytical models considering different aspects to assess the performance of building monitoring systems. However, some critical points are still missing in the literature, such as (i) analyzing the capacity of computational resources adequate to the data demand, (ii) representing the number of cores per machine, and (iii) the clustering of sensors by location. This work proposes a queuing network based message exchange architecture to evaluate the performance of an intelligent building infrastructure associated with multiple processing layers: edge and fog. We consider an architecture of a building that has several floors and several rooms in each of them, where all rooms are equipped with sensors and an edge device. A comprehensive sensitivity analysis of the model was performed using the Design of Experiments (DoE) method to identify bottlenecks in the proposal. A series of case studies were conducted based on the DoE results. The DoE results allowed us to conclude, for example, that the number of cores can have more impact on the response time than the number of nodes. Simulations of scenarios defined through DoE allow observing the behavior of the following metrics: average response time, resource utilization rate, flow rate, discard rate, and the number of messages in the system. Three scenarios were explored: (i) scenario A (varying the number of cores), (ii) scenario B (varying the number of fog nodes), and (iii) scenario C (varying the nodes and cores simultaneously). Depending on the number of resources (nodes or cores), the system can become so overloaded that no new requests are supported. The queuing network based message exchange architecture and the analyses carried out can help system designers optimize their computational architectures before building construction.