Unmanned Autonomous Vehicle (UAV) or drones are increasingly used across diverse application areas. Uncooperative drones do not announce their identity/flight plans and can pose a potential risk to critical infrastructures. Understanding drone’s intention is important to assigning risk and executing countermeasures. Intentions are often intangible and unobservable, and a variety of tangible intention classes are often inferred as a proxy. However, inference of drone intention classes using observational data alone is inherently unreliable due to observational and learning bias. Here, we developed a control-physics informed machine learning (CPhy-ML) that can robustly infer across intention classes. The CPhy-ML couples the representation power of deep learning with the conservation laws of aerospace models to reduce bias and instability. The CPhy-ML achieves a 48.28% performance improvement over traditional trajectory prediction methods. The reward inference results outperforms conventional inverse reinforcement learning approaches, decreasing the root mean squared spectral norm error from 3.3747 to 0.3229.

The use of unmanned aerial vehicles (UAVs) is increasing in transportation applications due to their high versatility and maneuverability in complex environments. Search and rescue is one of the most challenging applications of UAVs due to the non-homogeneous nature of the environmental and communication landscapes. In particular, mountainous areas pose difficulties due to the loss of connectivity caused by large valleys and the volumes of hazardous weather. In this paper, the connectivity issue in mountainous areas is addressed using a path planning algorithm for UAV relay. The approach is based on two main phases: (1) the detection of areas of interest where the connectivity signal is poor, and (2) an energy-aware and resilient path planning algorithm that maximizes the coverage links. The approach uses a viewshed analysis to identify areas of visibility between the areas of interest and the cell-towers. This allows the construction of a blockage map that prevents the UAV from passing through areas with no coverage, whilst maximizing the coverage area under energy constraints and hazardous weather. The proposed approach is validated under open-access datasets of mountainous zones, and the obtained results confirm the benefits of the proposed approach for communication networks in remote and challenging environments.

Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle’s theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots.