IET Cybersystems and Robotics最新文献

A Hierarchical Hybrid Framework for Real-Time Dense Semantic Mapping With Semantic Rendering and Dynamic Keyframe Optimisation 基于语义渲染和动态关键帧优化的实时密集语义映射分层混合框架

IF 1.2

IET Cybersystems and Robotics Pub Date : 2026-08-20 DOI: 10.1049/csy2.70062

Fengkai Zhou, Chi Li, Yan Zhuang

引用次数: 0

Spatio-Temporal Alignment of On-Board Sensors for Railway Systems 铁路系统车载传感器的时空对准

IF 1.2

IET Cybersystems and Robotics Pub Date : 2026-07-10 DOI: 10.1049/csy2.70056

Ping Tan, Shaofei Li, Dongsheng Zhu, Xianjie Li, Huoping Yi, Yongbo Wu, Yang Zhao, Wenjun Huang

{"title":"Spatio-Temporal Alignment of On-Board Sensors for Railway Systems","authors":"Ping Tan, Shaofei Li, Dongsheng Zhu, Xianjie Li, Huoping Yi, Yongbo Wu, Yang Zhao, Wenjun Huang","doi":"10.1049/csy2.70056","DOIUrl":"10.1049/csy2.70056","url":null,"abstract":"To address the challenges of obstacle detection in railway environments, this paper proposes a highly robust perception method based on light detection and ranging (LiDAR) and camera fusion. The core of this method is an innovative spatio-temporal alignment framework designed to resolve the critical issue of spatio-temporal misalignment in conventional point cloud and image data processing. For temporal synchronisation, the framework employs the precision time protocol (PTP) to achieve microsecond-level time synchronisation between the LiDAR and camera, thereby improving cross-modal temporal consistency at their acquisition timestamps. In the spatial domain, the method eliminates the dependency on specific calibration targets by introducing an adaptive and targetless calibration strategy based on natural scene features. This strategy constructs a multi-channel scoring function to maximise the mutual information (MI) between point cloud and image features, and it leverages a particle swarm optimisation (PSO) algorithm to efficiently solve for the sensors' six-degree-of-freedom (6-DoF) extrinsic parameters. Experimental results demonstrate that the proposed method achieves high-precision online calibration in railway scenarios. By providing an integrated solution to the spatio-temporal misalignment problem, this study effectively improves the performance of multi-sensor fusion, significantly enhancing the reliability and accuracy of perception for railway perimeter security.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"8 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2026-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70056","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148466951","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Intelligent AgUAV Path Optimisation Using SAC for IoT-Enabled Agricultural Monitoring and Data Collection 使用SAC进行物联网农业监测和数据收集的智能AgUAV路径优化

IF 1.2

IET Cybersystems and Robotics Pub Date : 2026-07-01 DOI: 10.1049/csy2.70057

Emmanuel Baba, Hamayadji Abdoul Aziz, Ado Adamou Abba Ari, Gerard Kponhinto, Khouloud Boukadi, Zibouda Aliouat

{"title":"Intelligent AgUAV Path Optimisation Using SAC for IoT-Enabled Agricultural Monitoring and Data Collection","authors":"Emmanuel Baba, Hamayadji Abdoul Aziz, Ado Adamou Abba Ari, Gerard Kponhinto, Khouloud Boukadi, Zibouda Aliouat","doi":"10.1049/csy2.70057","DOIUrl":"10.1049/csy2.70057","url":null,"abstract":"In the context of smart agricultural monitoring, the issue of complete coverage of the field area and connectivity among agricultural Internet of Things (AgIoT) devices for data collection represents a major challenge. To resolve this issue, it is imperative to implement sophisticated optimisation methods. This paper proposes a hybrid scheme combining a multiplicatively weighted Voronoi diagram (MWVD) and deep reinforcement learning (DRL) for agricultural field coverage-based agricultural unmanned aerial vehicle (AgUAV) data collection. The first method divides the field to be monitored into several areas of interest based on epidemics, areas with low irrigation or large infestations. The second method, which is a DRL algorithm, optimises the position of drones as part of their data collection mission at preselected agricultural cluster head (AgCH) nodes in the MWVD agricultural field. The objective of this article is to optimise the movement of drones to collect data from AgIoT sensors in the agricultural field by using the MWVD algorithm to segment the field and initialise the position of the rendezvous point AgCH collector and DRL to optimise the position of drones to reduce the total energy consumption of drones, collect data reliably and optimise the total coverage of the field in an intelligent manner.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"8 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70057","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148381138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Real-World Deployment of a Dynamic Selective LASER Weeding System Using Multispectral Imagery 使用多光谱图像的动态选择性激光除草系统的实际部署

IF 1.2

IET Cybersystems and Robotics Pub Date : 2026-06-27 DOI: 10.1049/csy2.70059

Sam Wane, Mingfeng Wang, Matthew Butler, Fernando Auat Cheein

{"title":"Real-World Deployment of a Dynamic Selective LASER Weeding System Using Multispectral Imagery","authors":"Sam Wane, Mingfeng Wang, Matthew Butler, Fernando Auat Cheein","doi":"10.1049/csy2.70059","DOIUrl":"https://doi.org/10.1049/csy2.70059","url":null,"abstract":"The use of chemical treatments for weed control is increasingly challenged by weed resistance, regulatory restrictions on chemicals and the risk of soil and water contamination that can pose health hazards. Chemical weed treatments are unsustainable, prompting exploration of alternative methods such as boiling water, electrocution and directed fire. However, these approaches are limited: water-based treatments require a reliable water supply in the field, and electric or fire-based methods pose additional environmental risks. This work proposes a targeted light amplified stimulation of emission by radiation (LASER) treatment and selective spraying system integrated with automatic weed identification. The system, mounted on the rear of a tractor, utilises a bispectral imaging setup to distinguish weeds from crops. Close-to-crop weeds are automatically selected for LASER treatment, whereas a selective sprayer targets other weeds with a glyphosate globule. This integrated system approach is named ‘Hyperweeding’. The results demonstrate successful separation of row crops from weeds, achieving a contamination-free crop with a significant reduction in glyphosate usage, and effectively treating weeds at speeds of 0.1 m<math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>⋅</mo>\u0000 <msup>\u0000 <mi>s</mi>\u0000 <mrow>\u0000 <mo>−</mo>\u0000 <mn>1</mn>\u0000 </mrow>\u0000 </msup>\u0000 </mrow>\u0000 <annotation> $cdot {mathrm{s}}^{-1}$</annotation>\u0000 </semantics></math>.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"8 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2026-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70059","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148324805","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Differentially Flat Trajectory Planning Approach for UAV Swarms With Energy Efficiency and Spatiotemporal Consistency 基于能量效率和时空一致性的无人机群差分平面轨迹规划方法

IF 1.2

IET Cybersystems and Robotics Pub Date : 2026-06-14 DOI: 10.1049/csy2.70055

Linqing He, Weifeng Liu

{"title":"A Differentially Flat Trajectory Planning Approach for UAV Swarms With Energy Efficiency and Spatiotemporal Consistency","authors":"Linqing He, Weifeng Liu","doi":"10.1049/csy2.70055","DOIUrl":"https://doi.org/10.1049/csy2.70055","url":null,"abstract":"Unmanned aerial vehicle (UAV) swarms hold significant promise for scalable environment exploration, cooperative transportation and urban air mobility. Nevertheless, trajectory planning for swarms remains challenging due to high computational complexity, stringent spatiotemporal constraints and limited attention to energy efficiency. In this work, we present a unified trajectory planning framework that simultaneously promotes energy efficiency and ensures spatiotemporal consistency. Building upon the minimum control (MINCO) trajectory representation, we extend the differentially flat parameterisation from single-UAV settings to multiagent systems, enabling efficient representation of swarm trajectories through sparse spatiotemporal parameters. Differentiable cost functions are designed to explicitly capture synchronised arrivals, temporal logic of tasks and collision-avoidance constraints, whereas analytical gradients are derived to facilitate scalable optimisation. Extensive simulations with swarms of up to 15 UAVs demonstrate the scalability of our method in generating smooth and dynamically feasible trajectories. Compared to state-of-the-art baselines, the proposed framework significantly improves the interagent safety margin (by 35%) and achieves substantial energy efficiency, reducing physical energy consumption by over 10% and control effort by up to 22%.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"8 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2026-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70055","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148282044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Climbing Motion Planning of Inchworm Robot Based on Improved Particle Swarm Optimisation Algorithm 基于改进粒子群优化算法的尺蠖机器人攀爬运动规划

IF 1.2

IET Cybersystems and Robotics Pub Date : 2026-06-12 DOI: 10.1049/csy2.70050

Xiaohong Cui, Shaoling Liu, Jiaxian Deng, Binrui Wang

{"title":"Climbing Motion Planning of Inchworm Robot Based on Improved Particle Swarm Optimisation Algorithm","authors":"Xiaohong Cui, Shaoling Liu, Jiaxian Deng, Binrui Wang","doi":"10.1049/csy2.70050","DOIUrl":"https://doi.org/10.1049/csy2.70050","url":null,"abstract":"Climbing robots have broad potential for various practical applications. In this study, a five-degree-of-freedom inchworm robotic platform is developed using modular T/I joints and its kinematic model is derived based on the Denavit–Hartenberg approach. Multiple gait modes, including creeping, rotation, flipping and obstacle negotiation, are investigated. To address the high energy consumption during the creeping gait, an optimisation framework constrained by both kinematic and dynamic factors is established. This framework adopts a deviation-tracking strategy that combines cubic polynomials in the Cartesian space with 7th-order polynomials in the joint space. Mathematical models for energy evaluation, trajectory formulation and spatial curve similarity are also developed. Additionally, an improved adaptive particle swarm optimisation algorithm is proposed, integrating three enhancements: a Sigmoid-based update rule, a position-updating scheme inspired by the golden sine algorithm and a tabu-region constraint mechanism. These modifications result in faster convergence and higher precision. Finally, a complete control system is designed, and experimental tests conducted under the creeping and rotating gaits verify the practicality and effectiveness of the proposed motion-planning method.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"8 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2026-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70050","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148238227","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

IF 1.2

IET Cybersystems and Robotics Pub Date : 2026-05-27