SUMMARY: The increasing deployment of multiple unmanned vehicles systems has generated large research interest in recent decades. This paper therefore provides a detailed survey to review a range of techniques related to the operation of multi-vehicle systems in different environmental domains, including land based, aerospace and marine with the specific focuses placed on formation control and cooperative motion planning. Differing from other related papers, this paper pays a special attention to the collision avoidance problem and specifically discusses and reviews those methods that adopt flexible formation shape to achieve collision avoidance for multi-vehicle systems. In the conclusions, some open research areas with suggested technologies have been proposed to facilitate the future research development.

Unmanned surface vehicle (USV) has witnessed a rapid growth in the recent decade and has been applied in various practical applications in both military and civilian domains. USVs can either be deployed as a single unit or multiple vehicles in a fleet to conduct ocean missions. Central to the control of USV and USV formations, path planning is the key technology that ensures the navigation safety by generating collision free trajectories. Compared with conventional path planning algorithms, the deep reinforcement learning (RL) based planning algorithms provides a new resolution by integrating a high-level artificial intelligence. This work investigates the application of deep reinforcement learning algorithms for USV and USV formation path planning with specific focus on a reliable obstacle avoidance in constrained maritime environments. For single USV planning, with the primary aim being to calculate a shortest collision avoiding path, the designed RL path planning algorithm is able to solve other complex issues such as the compliance with vehicle motion constraints. The USV formation maintenance algorithm is capable of calculating suitable paths for the formation and retain the formation shape robustly or vary shapes where necessary, which is promising to assist with the navigation in environments with cluttered obstacles. The developed three sets of algorithms are validated and tested in computer-based simulations and practical maritime environments extracted from real harbour areas in the UK.

Three-dimensional (3D) printing is emerging as a transformative technology for biomedical engineering. The 3D printed product can be patient-specific by allowing customizability and direct control of the architecture. The trial-and-error approach currently used for developing the composition of printable inks is time- and resource-consuming due to the increasing number of variables requiring expert knowledge. Artificial intelligence has the potential to reshape the ink development process by forming a predictive model for printability from experimental data. In this paper, we constructed machine learning (ML) algorithms including decision tree, random forest (RF), and deep learning (DL) to predict the printability of biomaterials. A total of 210 formulations including 16 different bioactive and smart materials and 4 solvents were 3D printed, and their printability was assessed. All ML methods were able to learn and predict the printability of a variety of inks based on their biomaterial formulations. In particular, the RF algorithm has achieved the highest accuracy (88.1%), precision (90.6%), and F1 score (87.0%), indicating the best overall performance out of the 3 algorithms, while DL has the highest recall (87.3%). Furthermore, the ML algorithms have predicted the printability window of biomaterials to guide the ink development. The printability map generated with DL has finer granularity than other algorithms. ML has proven to be an effective and novel strategy for developing biomaterial formulations with desired 3D printability for biomedical engineering applications.