This article introduces a new routing problem referred to as the vehicle routing problem with vector profits. Given a network composed of nodes (depot/sites) and arcs connecting the nodes, the problem determines routes that depart from the depot, visit sites to collect profits, and return to the depot. There are multiple stakeholders interested in the mission and each site is associated with a vector whose kth element represents the profit value for the kth stakeholder. The objective of the problem is to maximize the profit sum for the least satisfied stakeholder, i.e. the stakeholder with the smallest total profit value. An approach based on linear programming relaxation and column-generation to solve this max–min type routing problem was developed. Two case studies—the planetary surface exploration and the Rome tour cases—were presented to demonstrate the effectiveness of the proposed problem formulation and solution methodology.

This article introduces an optimization framework for the integrated design of a planetary surface rover and its exploration route that is applicable to the initial phase of a planetary exploration campaign composed of multiple surface missions. The scientific capability and the mobility of a rover are modelled as functions of the science weight fraction, a key parameter characterizing the rover. The proposed problem is formulated as a mixed-integer nonlinear program that maximizes the sum of profits obtained through a planetary surface exploration mission by simultaneously determining the science weight fraction of the rover, the sites to visit and their visiting sequences under resource consumption constraints imposed on each route and collectively on a mission. A solution procedure for the proposed problem composed of two loops (the outer loop and the inner loop) is developed. The results of test cases demonstrating the effectiveness of the proposed framework are presented.

Recently, drone shows have impressed many people through a convergence of technology and art. However, these demonstrations have limited operating hours based on the battery life. Thus, it is important to minimize the unnecessary transition time between scenes without collision to increase operating time. This paper proposes a fast and energy-efficient scene transition algorithm that minimizes the transition times between scenes. This algorithm reduces the maximum drone movement distance to increase the operating time and exploits a multilayer method to avoid collisions between drones. In addition, a swarming flight system including robust communication and position estimation is presented as a concrete experimental system. The proposed algorithm was verified using the swarming flight system at a drone show performed with 100 drones.

Estimations of deforestation are crucial as increased levels of deforestation induce serious environmental problems. However, it is challenging to perform investigations over extensive areas, such as the Amazon rainforest, due to the vast size of the region and the difficulty of direct human access. Satellite imagery can be used as an effective solution to this problem; combining optical images with synthetic aperture radar (SAR) images enables deforestation monitoring over large areas irrespective of weather conditions. In this study, we propose a learning strategy for multi-modal deforestation estimations on this basis. Images from three different satellites, Sentinel-1, Sentinel-2, and Landsat 8, were utilized to this end. The proposed algorithm overcomes visibility limitations due to a long rainy season of the Amazon by creating a multi-modal dataset using supplementary SAR images, achieving high estimation accuracy. The dataset is composed of satellite data taken on a daily basis with relatively less monthly generated, ground truth masking data, which is called the many-to-one-mask condition. The Normalized Difference Vegetation Index and Normalized Difference Soil Index bands are selected to comprise the datasets. This yields better detection performance and a shorter training time than datasets consisting of RGB or all bands. Multiple deep neural networks are independently trained for each modality and an appropriate fusion method is developed to detect deforestation. The proposed method utilizes the distance similarity of the predicted deforestation rate to filter prediction results. The elements with high degrees of similarity are merged into the final result with average and denoising operations. The performances of five network variants of the U-Net family are compared, with Attention U-Net observed to exhibit the best prediction results. Finally, the proposed method is utilized to estimate the deforestation status of novel queries with high accuracy.