GLIDE: A Coordinated Aerial-Ground Framework for Search and Rescue in Unknown Environments

We present a cooperative aerial-ground search-and-rescue (SAR) framework that pairs two unmanned aerial vehicles (UAVs) with an unmanned ground vehicle (UGV) to achieve rapid victim localization and obstacle-aware navigation in unknown environments. We dub this framework Guided Long-horizon Integrated Drone Escort (GLIDE), highlighting the UGV's reliance on UAV guidance for long-horizon planning. In our framework, a goal-searching UAV executes real-time onboard victim detection and georeferencing to nominate goals for the ground platform, while a terrain-scouting UAV flies ahead of the UGV's planned route to provide mid-level traversability updates. The UGV fuses aerial cues with local sensing to perform time-efficient A* planning and continuous replanning as information arrives. Additionally, we present a hardware demonstration (using a GEM e6 golf cart as the UGV and two X500 UAVs) to evaluate end-to-end SAR mission performance and include simulation ablations to assess the planning stack in isolation from detection. Empirical results demonstrate that explicit role separation across UAVs, coupled with terrain scouting and guided planning, improves reach time and navigation safety in time-critical SAR missions.

Ensemble Neural Representation Networks

Implicit Neural Representation (INR) has recently attracted considerable attention for storing various types of signals in continuous forms. The existing INR networks require lengthy training processes and high-performance computational resources. In this paper, we propose a novel sub-optimal ensemble architecture for INR that resolves the aforementioned problems. In this architecture, the representation task is divided into several sub-tasks done by independent sub-networks. We show that the performance of the proposed ensemble INR architecture may decrease if the dimensions of sub-networks increase. Hence, it is vital to suggest an optimization algorithm to find the sub-optimal structure of the ensemble network, which is done in this paper. According to the simulation results, the proposed architecture not only has significantly fewer floating-point operations (FLOPs) and less training time, but it also has better performance in terms of Peak Signal to Noise Ratio (PSNR) compared to those of its counterparts.