Extending QGroundControl for Automated Mission Planning of UAVs

Unmanned Aerial Vehicle (UAVs) have become very popular in the last decade due to some advantages such as strong terrain adaptation, low cost, zero casualties, and so on. One of the most interesting advances in this field is the automation of mission planning (task allocation) and real-time replanning, which are highly useful to increase the autonomy of the vehicle and reduce the operator workload. These automated mission planning and replanning systems require a Human Computer Interface (HCI) that facilitates the visualization and selection of plans that will be executed by the vehicles. In addition, most missions should be assessed before their real-life execution. This paper extends QGroundControl, an open-source simulation environment for flight control of multiple vehicles, by adding a mission designer that permits the operator to build complex missions with tasks and other scenario items; an interface for automated mission planning and replanning, which works as a test bed for different algorithms, and a Decision Support System (DSS) that helps the operator in the selection of the plan. In this work, a complete guide of these systems and some practical use cases are provided.

Weighted strategies to guide a multi-objective evolutionary algorithm for multi-UAV mission planning

Management and mission planning over a swarm of unmanned aerial vehicle (UAV) remains to date as a challenging research trend in what regards to this particular type of aircrafts. These vehicles are controlled by a number of ground control station (GCS), from which they are commanded to cooperatively perform different tasks in specific geographic areas of interest. Mathematically the problem of coordinating and assigning tasks to a swarm of UAV can be modeled as a constraint satisfaction problem, whose complexity and multiple conflicting criteria has hitherto motivated the adoption of multi-objective solvers such as multi-objective evolutionary algorithm (MOEA). The encoding approach consists of different alleles representing the decision variables, whereas the fitness function checks that all constraints are fulfilled, minimizing the optimization criteria of the problem. In problems of high complexity involving several tasks, UAV and GCS, where the space of search is huge compared to the space of valid solutions, the convergence rate of the algorithm increases significantly. To overcome this issue, this work proposes a weighted random generator for the creation and mutation of new individuals. The main objective of this work is to reduce the convergence rate of the MOEA solver for multi-UAV mission planning using weighted random strategies that focus the search on potentially better regions of the solution space. Extensive experimental results over a diverse range of scenarios evince the benefits of the proposed approach, which notably improves this convergence rate with respect to a na\"ive MOEA approach.

A revision on Multi-Criteria Decision Making methods for Multi-UAV Mission Planning Support

Over the last decade, Unmanned Aerial Vehicles (UAVs) have been extensively used in many commercial applications due to their manageability and risk avoidance. One of the main problems considered is the Mission Planning for multiple UAVs, where a solution plan must be found satisfying the different constraints of the problem. This problem has multiple variables that must be optimized simultaneously, such as the makespan, the cost of the mission or the risk. Therefore, the problem has a lot of possible optimal solutions, and the operator must select the final solution to be executed among them. In order to reduce the workload of the operator in this decision process, a Decision Support System (DSS) becomes necessary. In this work, a DSS consisting of ranking and filtering systems, which order and reduce the optimal solutions, has been designed. With regard to the ranking system, a wide range of Multi-Criteria Decision Making (MCDM) methods, including some fuzzy MCDM, are compared on a multi-UAV mission planning scenario, in order to study which method could fit better in a multi-UAV decision support system. Expert operators have evaluated the solutions returned, and the results show, on the one hand, that fuzzy methods generally achieve better average scores, and on the other, that all of the tested methods perform better when the preferences of the operators are biased towards a specific variable, and worse when their preferences are balanced. For the filtering system, a similarity function based on the proximity of the solutions has been designed, and on top of that, a threshold is tuned empirically to decide how to filter solutions without losing much of the hypervolume of the space of solutions.

An Effective Networks Intrusion Detection Approach Based on Hybrid Harris Hawks and Multi-Layer Perceptron

This paper proposes an Intrusion Detection System (IDS) employing the Harris Hawks Optimization algorithm (HHO) to optimize Multilayer Perceptron learning by optimizing bias and weight parameters. HHO-MLP aims to select optimal parameters in its learning process to minimize intrusion detection errors in networks. HHO-MLP has been implemented using EvoloPy NN framework, an open-source Python tool specialized for training MLPs using evolutionary algorithms. For purposes of comparing the HHO model against other evolutionary methodologies currently available, specificity and sensitivity measures, accuracy measures, and mse and rmse measures have been calculated using KDD datasets. Experiments have demonstrated the HHO MLP method is effective at identifying malicious patterns. HHO-MLP has been tested against evolutionary algorithms like Butterfly Optimization Algorithm (BOA), Grasshopper Optimization Algorithms (GOA), and Black Widow Optimizations (BOW), with validation by Random Forest (RF), XG-Boost. HHO-MLP showed superior performance by attaining top scores with accuracy rate of 93.17%, sensitivity level of 89.25%, and specificity percentage of 95.41%.

Camouflage is all you need: Evaluating and Enhancing Language Model Robustness Against Camouflage Adversarial Attacks

Adversarial attacks represent a substantial challenge in Natural Language Processing (NLP). This study undertakes a systematic exploration of this challenge in two distinct phases: vulnerability evaluation and resilience enhancement of Transformer-based models under adversarial attacks. In the evaluation phase, we assess the susceptibility of three Transformer configurations, encoder-decoder, encoder-only, and decoder-only setups, to adversarial attacks of escalating complexity across datasets containing offensive language and misinformation. Encoder-only models manifest a 14% and 21% performance drop in offensive language detection and misinformation detection tasks, respectively. Decoder-only models register a 16% decrease in both tasks, while encoder-decoder models exhibit a maximum performance drop of 14% and 26% in the respective tasks. The resilience-enhancement phase employs adversarial training, integrating pre-camouflaged and dynamically altered data. This approach effectively reduces the performance drop in encoder-only models to an average of 5% in offensive language detection and 2% in misinformation detection tasks. Decoder-only models, occasionally exceeding original performance, limit the performance drop to 7% and 2% in the respective tasks. Although not surpassing the original performance, Encoder-decoder models can reduce the drop to an average of 6% and 2% respectively. Results suggest a trade-off between performance and robustness, with some models maintaining similar performance while gaining robustness. Our study and adversarial training techniques have been incorporated into an open-source tool for generating camouflaged datasets. However, methodology effectiveness depends on the specific camouflage technique and data encountered, emphasizing the need for continued exploration.

Constrained multi-objective optimization for multi-UAV planning

Over the last decade, developments in unmanned aerial vehicles (UAVs) has greatly increased, and they are being used in many fields including surveillance, crisis management or automated mission planning. This last field implies the search of plans for missions with multiple tasks, UAVs and ground control stations; and the optimization of several objectives, including makespan, fuel consumption or cost, among others. In this work, this problem has been solved using a multi-objective evolutionary algorithm combined with a constraint satisfaction problem model, which is used in the fitness function of the algorithm. The algorithm has been tested on several missions of increasing complexity, and the computational complexity of the different element considered in the missions has been studied.

Solving Complex Multi-UAV Mission Planning Problems using Multi-objective Genetic Algorithms

Due to recent booming of UAVs technologies, these are being used in many fields involving complex tasks. Some of them involve a high risk to the vehicle driver, such as fire monitoring and rescue tasks, which make UAVs excellent for avoiding human risks. Mission Planning for UAVs is the process of planning the locations and actions (loading/dropping a load, taking videos/pictures, acquiring information) for the vehicles, typically over a time period. These vehicles are controlled from Ground Control Stations (GCSs) where human operators use rudimentary systems. This paper presents a new Multi-Objective Genetic Algorithm for solving complex Mission Planning Problems (MPP) involving a team of UAVs and a set of GCSs. A hybrid fitness function has been designed using a Constraint Satisfaction Problem (CSP) to check if solutions are valid and Pareto-based measures to look for optimal solutions. The algorithm has been tested on several datasets optimizing different variables of the mission, such as the makespan, the fuel consumption, distance, etc. Experimental results show that the new algorithm is able to obtain good solutions, however as the problem becomes more complex, the optimal solutions also become harder to find.

Self-supervised Machine Learning Based Approach to Orbit Modelling Applied to Space Traffic Management

This paper presents a novel methodology for improving the performance of machine learning based space traffic management tasks through the use of a pre-trained orbit model. Taking inspiration from BERT-like self-supervised language models in the field of natural language processing, we introduce ORBERT, and demonstrate the ability of such a model to leverage large quantities of readily available orbit data to learn meaningful representations that can be used to aid in downstream tasks. As a proof of concept of this approach we consider the task of all vs. all conjunction screening, phrased here as a machine learning time series classification task. We show that leveraging unlabelled orbit data leads to improved performance, and that the proposed approach can be particularly beneficial for tasks where the availability of labelled data is limited.

Understanding writing style in social media with a supervised contrastively pre-trained transformer

Online Social Networks serve as fertile ground for harmful behavior, ranging from hate speech to the dissemination of disinformation. Malicious actors now have unprecedented freedom to misbehave, leading to severe societal unrest and dire consequences, as exemplified by events such as the Capitol assault during the US presidential election and the Antivaxx movement during the COVID-19 pandemic. Understanding online language has become more pressing than ever. While existing works predominantly focus on content analysis, we aim to shift the focus towards understanding harmful behaviors by relating content to their respective authors. Numerous novel approaches attempt to learn the stylistic features of authors in texts, but many of these approaches are constrained by small datasets or sub-optimal training losses. To overcome these limitations, we introduce the Style Transformer for Authorship Representations (STAR), trained on a large corpus derived from public sources of 4.5 x 10^6 authored texts involving 70k heterogeneous authors. Our model leverages Supervised Contrastive Loss to teach the model to minimize the distance between texts authored by the same individual. This author pretext pre-training task yields competitive performance at zero-shot with PAN challenges on attribution and clustering. Additionally, we attain promising results on PAN verification challenges using a single dense layer, with our model serving as an embedding encoder. Finally, we present results from our test partition on Reddit. Using a support base of 8 documents of 512 tokens, we can discern authors from sets of up to 1616 authors with at least 80\% accuracy. We share our pre-trained model at huggingface (https://huggingface.co/AIDA-UPM/star) and our code is available at (https://github.com/jahuerta92/star)

Spain on Fire: A novel wildfire risk assessment model based on image satellite processing and atmospheric information

Each year, wildfires destroy larger areas of Spain, threatening numerous ecosystems. Humans cause 90% of them (negligence or provoked) and the behaviour of individuals is unpredictable. However, atmospheric and environmental variables affect the spread of wildfires, and they can be analysed by using deep learning. In order to mitigate the damage of these events we proposed the novel Wildfire Assessment Model (WAM). Our aim is to anticipate the economic and ecological impact of a wildfire, assisting managers resource allocation and decision making for dangerous regions in Spain, Castilla y Le\'on and Andaluc\'ia. The WAM uses a residual-style convolutional network architecture to perform regression over atmospheric variables and the greenness index, computing necessary resources, the control and extinction time, and the expected burnt surface area. It is first pre-trained with self-supervision over 100,000 examples of unlabelled data with a masked patch prediction objective and fine-tuned using 311 samples of wildfires. The pretraining allows the model to understand situations, outclassing baselines with a 1,4%, 3,7% and 9% improvement estimating human, heavy and aerial resources; 21% and 10,2% in expected extinction and control time; and 18,8% in expected burnt area. Using the WAM we provide an example assessment map of Castilla y Le\'on, visualizing the expected resources over an entire region.