Q-learning Based System for Path Planning with UAV Swarms in Obstacle Environments

Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios where autonomous control of multiple UAVs is required. Most of these scenarios present a large number of obstacles, such as power lines or trees. If all UAVs can be operated autonomously, personnel expenses can be decreased. In addition, if their flight paths are optimal, energy consumption is reduced. This ensures that more battery time is left for other operations. In this paper, a Reinforcement Learning based system is proposed for solving this problem in environments with obstacles by making use of Q-Learning. This method allows a model, in this particular case an Artificial Neural Network, to self-adjust by learning from its mistakes and achievements. Regardless of the size of the map or the number of UAVs in the swarm, the goal of these paths is to ensure complete coverage of an area with fixed obstacles for tasks, like field prospecting. Setting goals or having any prior information aside from the provided map is not required. For experimentation, five maps of different sizes with different obstacles were used. The experiments were performed with different number of UAVs. For the calculation of the results, the number of actions taken by all UAVs to complete the task in each experiment is taken into account. The lower the number of actions, the shorter the path and the lower the energy consumption. The results are satisfactory, showing that the system obtains solutions in fewer movements the more UAVs there are. For a better presentation, these results have been compared to another state-of-the-art approach.

Automatic Assessment of Alzheimer's Disease Diagnosis Based on Deep Learning Techniques

Early detection is crucial to prevent the progression of Alzheimer's disease (AD). Thus, specialists can begin preventive treatment as soon as possible. They demand fast and precise assessment in the diagnosis of AD in the earliest and hardest to detect stages. The main objective of this work is to develop a system that automatically detects the presence of the disease in sagittal magnetic resonance images (MRI), which are not generally used. Sagittal MRIs from ADNI and OASIS data sets were employed. Experiments were conducted using Transfer Learning (TL) techniques in order to achieve more accurate results. There are two main conclusions to be drawn from this work: first, the damages related to AD and its stages can be distinguished in sagittal MRI and, second, the results obtained using DL models with sagittal MRIs are similar to the state-of-the-art, which uses the horizontal-plane MRI. Although sagittal-plane MRIs are not commonly used, this work proved that they were, at least, as effective as MRI from other planes at identifying AD in early stages. This could pave the way for further research. Finally, one should bear in mind that in certain fields, obtaining the examples for a data set can be very expensive. This study proved that DL models could be built in these fields, whereas TL is an essential tool for completing the task with fewer examples.