Multirobot motion planning is always one of the critical techniques in edge intelligent systems, which involve a variety of algorithms, such as map modeling, path search, and trajectory optimization and smoothing. To overcome the slow running speed and imbalance of energy consumption, a swarm intelligence solution based on parallel computing is proposed to plan motion paths for multirobot with many task nodes in a complex scene that have multiple irregularly‐shaped obstacles, which objective is to find a smooth trajectory under the constraints of the shortest total distance and the energy‐balanced consumption for all robots to travel between nodes. In a practical scenario, the imbalance of task allocation will inevitably lead to some robots stopping on the way. Thus, we firstly model a gridded scene as a weighted MTSP (multitraveling salesman problem) in which the weights are the energies of obstacle constraints and path length. Then, a hybridization of particle swarm and ant colony optimization (GPSO‐AC) based on a platform of Compute Unified Device Architecture (CUDA) is presented to find the optimal path for the weighted MTSPs. Next, we improve the A∗ algorithm to generate a weighted obstacle avoidance path on the gridded map, but there are still many sharp turns on it. Therefore, an improved smooth grid path algorithm is proposed by integrating the dynamic constraints in this paper to optimize the trajectory smoothly, to be more in line with the law of robot motion, which can more realistically simulate the multirobot in a real scene. Finally, experimental comparisons with other methods on the designed platform of GPUs demonstrate the applicability of the proposed algorithm in different scenarios, and our method strikes a good balance between energy consumption and optimality, with significantly faster and better performance than other considered approaches, and the effects of the adjustment coefficient q on the performance of the algorithm are also discussed in the experiments.

Capacity drop is the critical phenomenon that triggers traffic congestion, while traffic evolution is very complex during a capacity drop. This study applied the empirical vehicle trajectory data to explore the traffic characteristics during the capacity drop at the tunnel bottleneck section. We first construct a capacity drop analysis model using image processing technology to extract high-precision vehicle trajectories. We then analyze the characteristics of the evolution process of the capacity drop at the bottleneck area. The results show that the capacity drop is a dynamic evolution process from free flow to congested flow where traffic operation is distinct. The capacity drop shows the difference between congested flow and non-congested flow. The driving characteristics of drivers in the two states are also different. The influence of lane-changing behavior on the capacity drop is estimated. In the free flow state, the disturbance caused by lane-changing can be quickly eliminated. With the increase in vehicle numbers in the area, the frequent lane-changing behavior accumulates disturbance. When the disturbance reaches a certain degree, congestion will occur, and the vehicle’s speed will drop sharply, resulting in a capacity drop.

Transformer-based subject-sensitive hashing algorithms exhibit good integrity authentication performance and have the potential to ensure the authenticity and convenience of high-resolution remote sensing (HRRS) images. However, the robustness of Transformer-based subject-sensitive hashing is still not ideal. In this paper, we propose a Multi-PatchDrop mechanism to improve the performance of Transformer-based subject-sensitive hashing. The Multi-PatchDrop mechanism determines different patch dropout values for different Transformer blocks in ViT models. On the basis of a Multi-PatchDrop, we propose an improved Swin-Unet for implementing subject-sensitive hashing. In this improved Swin-Unet, Multi-PatchDrop has been integrated, and each Swin Transformer block (except the first one) is preceded by a patch dropout layer. Experimental results demonstrate that the robustness of our proposed subject-sensitive hashing algorithm is not only stronger than that of the CNN-based algorithms but also stronger than that of Transformer-based algorithms. The tampering sensitivity is of the same intensity as the AGIM-net and M-net-based algorithms, stronger than other Transformer-based algorithms.

A new hybrid algorithm is proposed by incorporating Harris Hawks Optimization with Marine Predators algorithm and dynamic Opposition-based learning, namely DMPA-HHO. In the algorithm, the problem is addressed that Harris Hawks Optimization (HHO) tends to fall into local optima and low accuracy of the solution. Dynamic Opposite Learning (DOL) improves the swarm diversity and swarm quality, and enhances the global search capability and search accuracy. HHO and the Marine Predators Algorithm (MPA) are blended to enhance the progressive rapid dives of the Harris hawk flock, effectively improving the algorithm's exploitation capabilities. DMPA-HHO uses the FADs’ effect of the MPA to increase the possibility of individuals escaping from the local optimum solution when the search falls into the local optimal solution. Compared with others on several benchmark functions, the DMPA-HHO algorithm has a better search accuracy and a stronger ability to avoid trapping in local optima.