This article presents a new approach to collision avoidance in drone swarms, designed for operations in large drone swarms and dynamic environments. The mechanism uses distributed communication, where drones share information about their positions and planned trajectories to predict and avoid collisions. The proposed mechanism enables drones to autonomously cooperate and maintain safe distances in complex scenarios. It is based on the concept of repulsion vectors. The avoidance response is determined by the level of immersion in the protective sphere of obstacles, including other drones. The advantage of the algorithm lies in its simplicity and low computational complexity, allowing it to be used even in small and inexpensive drones. The algorithm was tested in a developed simulation environment, created to handle swarms of over 20 drones and to demonstrate the scalability of the proposed solution. Two scenarios were analyzed: (i) two swarms, each with nine drones, flying on a collision course; (ii) a swarm of 25 drones changing formation. The results showed that the mechanism is effective in avoiding collisions, maintaining safe distances and adapting to changing conditions. The proposed mechanism represents a significant advancement in swarm coordination, offering a robust and scalable solution for real-world applications.

The paper presents a comprehensive overview of intelligent video analytics and human action recognition methods. The article provides an overview of the current state of knowledge in the field of human activity recognition, including various techniques such as pose-based, tracking-based, spatio-temporal, and deep learning-based approaches, including visual transformers. We also discuss the challenges and limitations of these techniques and the potential of modern edge AI architectures to enable real-time human action recognition in resource-constrained environments.

The paper describes a scalable, wearable multi-sensor system for motion capture based on inertial measurement units (IMUs). Such a unit is composed of accelerometer, gyroscope and magnetometer. The final quality of an obtained motion arises from all the individual parts of the described system. The proposed system is a sequence of the following stages: sensor data acquisition, sensor orientation estimation, system calibration, pose estimation and data visualisation. The construction of the system’s architecture with the dataflow programming paradigm makes it easy to add, remove and replace the data processing steps. The modular architecture of the system allows an effortless introduction of a new sensor orientation estimation algorithms. The original contribution of the paper is the design study of the individual components used in the motion capture system. The two key steps of the system design are explored in this paper: the evaluation of sensors and algorithms for the orientation estimation. The three chosen algorithms have been implemented and investigated as part of the experiment. Due to the fact that the selection of the sensor has a significant impact on the final result, the sensor evaluation process is also explained and tested. The experimental results confirmed that the choice of sensor and orientation estimation algorithm affect the quality of the final results.

In the swiftly advancing field of swarm robotics and unmanned aerial vehicles, precise and effective testing methods are essential. This article explores the crucial role of software-in-the-loop (SITL) simulations in developing, testing, and validating drone swarm control algorithms. Such simulations play a crucial role in reproducing real-world operational scenarios. Additionally, they can (regardless of the type of application) accelerate the development process, reduce operational risks, and ensure the consistent performance of drone swarms. Our study demonstrates that different geometrical arrangements of drone swarms require flexible control strategies. The leader-based control model facilitates coherent movement and enhanced coordination. Addressing various issues such as communication delays and inaccuracies in positioning is essential here. These shortcomings underscore the value of improved approaches to collision avoidance. The research described in this article focused on the dynamics of drone swarms in a simulated context and emphasized their operational efficiency and adaptability in various scenarios. Advanced simulation tools were utilized to analyze the interaction, communication, and adaptability of autonomous units. The presented results indicate that the arrangement of drones significantly affects their coordination and collision avoidance capabilities. They also underscore the importance of control systems that can adapt to various situations. The impact of communication delays and errors in positioning systems on the required distance between drones in a grid structure is also presented. This article assesses the impact of different levels of GPS accuracy and communication delays on the coordination of group movement and collision avoidance capabilities.

This work is focused on the preliminary stage of the 3D drone tracking challenge, namely the precise detection of drones on images obtained from a synchronized multi-camera system. The YOLOv5 deep network with different input resolutions is trained and tested on the basis of real, multimodal data containing synchronized video sequences and precise motion capture data as a ground truth reference. The bounding boxes are determined based on the 3D position and orientation of an asymmetric cross attached to the top of the tracked object with known translation to the object’s center. The arms of the cross are identified by the markers registered by motion capture acquisition. Besides the classical mean average precision (mAP), a measure more adequate in the evaluation of detection performance in 3D tracking is proposed, namely the average distance between the centroids of matched references and detected drones, including false positive and false negative ratios. Moreover, the videos generated in the AirSim simulation platform were taken into account in both the training and testing stages.