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To establish a suitable pure electric bus arrival time prediction model, this paper takes pure electric bus as the research object. Based on the analysis of the influencing factors of the arrival time of the pure electric bus, the BP neural network arrival time prediction model optimized by the firefly algorithm (FA-BP prediction model) is established by selecting vehicle type, SOC value, battery age, and time as input conditions. The model is trained and tested by using bus operation data. The root mean square error of the Kalman filter model is 0.351, of the BP neural network model is 0.059, and of the FA-BP prediction model is 0.04. The results show that the model in this paper effectively improves the prediction accuracy and has good reliability and feasibility. It can provide some theoretical references for pure electric bus operation and managers and provide some basis for improving bus reliability. [ABSTRACT FROM AUTHOR]

The goods collection and delivery process often relates to distribution logistics problems. The task is to deliver goods from warehouses to customers under specific circumstances. Efforts to optimize the process are largely aimed at reducing overall costs of goods transportation. Among the prominent algorithms for solving the basic type of the delivery (or collection) problem, which includes a single depot and a homogeneous vehicle fleet, is the algorithm developed by Clarke and Wright in 1964. This algorithm minimizes transportation costs by maximizing the savings achieved through merging multiple routes into one. This paper primarily aims to solve the pickup and delivery problem where the goods must be delivered and empty packaging collected in a single process. The request of a customer can be routed from the depot or from another customer. Similarly, the destination of the request may be the depot or another customer. Unlike the original version of the Clarke and Wright algorithm, the initial routes are created to satisfy delivery orders, and therefore, the same customer can occur in multiple routes. Consequently, a situation may arise in which two routes containing one or more common vertices must be combined during the calculation. Furthermore, these vertices need not be the outermost vertices of the routes. This situation cannot be addressed by using the original version of the Clarke and Wright algorithm, and that is why we propose its modification. Merging routes through inner vertices means that the cost savings depend on the configurations of the routes, and therefore, they cannot be calculated a priori. Instead, the dynamic savings matrix must be used. [ABSTRACT FROM AUTHOR]

The development of artificial intelligence has brought rapid changes to human life and brought great convenience to human activities. The development of various modes of transportation has also brought convenience to people's travel and commodity transactions, but it has also added more issues that need to be carefully considered. Because of the diversification of transportation methods, transportation problems also arise many fields, such as air transportation, water transportation, and land transportation. The development of mathematical models and algorithms for transportation problems is also in full swing, and it is a major trend to introduce mathematical models and algorithms into the solution of transportation problems. This paper deals with the multi-index transportation problem by establishing a multi-index mathematical model and algorithm to find a scientific transportation method for the goods to be transported, so as to save the cost and time of transportation. Experiments show that the mathematical model established in this paper has high efficiency for solving the multi-index transportation problem. At the same time, the most suitable transportation method can also be selected for the transportation of goods, and the route planned by the mathematical model and algorithm can reduce the risk to 12.34%. [ABSTRACT FROM AUTHOR]

Vehicle detection in Intelligent Transportation Systems (ITS) is a key factor ensuring road safety, as it is necessary for the monitoring of vehicle flow, illegal vehicle type detection, incident detection, and vehicle speed estimation. Despite the growing popularity in research, it remains a challenging problem that must be solved. Hardware-based solutions such as radars and LIDAR are been proposed but are too expensive to be maintained and produce little valuable information to human operators at traffic monitoring systems. Software based solutions using traditional algorithms such as Histogram of Gradients (HOG) and Gaussian Mixed Model (GMM) are computationally slow and not suitable for real-time traffic detection. Therefore, the paper will review and evaluate different vehicle detection methods. In addition, a method of utilizing Convolutional Neural Network (CNN) is used for the detection of vehicles from roadway camera outputs to apply video processing techniques and extract the desired information. Specifically, the paper utilized the YOLOv5s architecture coupled with k-means algorithm to perform anchor box optimization under different illumination levels. Results from the simulated and evaluated algorithm showed that the proposed model was able to achieve a mAP of 97.8 in the daytime dataset and 95.1 in the nighttime dataset. [ABSTRACT FROM AUTHOR]

With the increasingly significant trend of developing urban land for mixed-use, an increasing number of urban commercial and office complexes have been built. The parking demand characteristics of such buildings are more complex than the parking demand characteristics of single-use buildings due to more diverse influencing factors. As there are complicated linear and nonlinear relationships between parking demand and influencing factors, it is difficult to accurately predict parking demand using a single multiple regression analysis (MRA) model. Hence, in this paper, a combined algorithm based on the MRA model, beetle antennae search (BAS) algorithm, and BP neural network is proposed for demand prediction. In this paper, a two-level and ten-category index system is established and then mixed with the BP algorithm through the MRA model to improve the overall robustness and accuracy of the algorithm. Then, the BAS algorithm is used to search for optimal parameters involved in the BP neural network to avoid local optimization and improve the accuracy and efficiency of prediction. Finally, an instance analysis is carried out for verification, and the result indicates that the parking demand prediction accuracy of the MRA-BAS-BP algorithm is higher than the prediction accuracy of the traditional algorithm. [ABSTRACT FROM AUTHOR]

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Recent advancements in computer science include some optimization models that have been developed and used in real applications. Some metaheuristic search/optimization algorithms have been tested to obtain optimal solutions to speed controller applications in self-driving cars. Some metaheuristic algorithms are based on social behaviour, resulting in several search models, functions, and parameters, and thus algorithm-specific strengths and weaknesses. The present paper proposes a fitness function on the basis of the mathematical description of proportional integrative derivate controllers showing that mean square error is not always the best measure when looking for a solution to the problem. The fitness developed in this paper contains features and equations from the mathematical background of proportional integrative derivative controllers to calculate the best performance of the system. Such results are applied to quantitatively evaluate the performance of twenty-one optimization algorithms. Furthermore, improved versions of the fitness function are considered, in order to investigate which aspects are enhanced by applying the optimization algorithms. Results show that the right fitness function is a key point to get a good performance, regardless of the chosen algorithm. The aim of this paper is to present a novel objective function to carry out optimizations of the gains of a PID controller, using several computational intelligence techniques to perform the optimizations. The result of these optimizations will demonstrate the improved efficiency of the selected control schema. [ABSTRACT FROM AUTHOR]

Analysis of passenger travel habits is always an important item in traffic field. However, passenger travel patterns can only be watched through a period time, and a lot of people travel by public transportation in big cities like Beijing daily, which leads to large-scale data and difficult operation. Using SPARK platform, this paper proposes a trip reconstruction algorithm and adopts the density-based spatial clustering of application with noise (DBSCAN) algorithm to mine the travel patterns of each Smart Card (SC) user in Beijing. For the phenomenon that passengers swipe cards before arriving to avoid the crowd caused by the people of the same destination, the algorithm based on passenger travel frequent items is adopted to guarantee the accuracy of spatial regular patterns. At last, this paper puts forward a model based on density and node importance to gather bus stations. The transportation connection between areas formed by these bus stations can be seen with the help of SC data. We hope that this research will contribute to further studies. [ABSTRACT FROM AUTHOR]

Due to continuous urban sprawl, large-scale bus network design has become a major challenge in urban transport planning. The continuous increase in urban population and scale makes the factors considered in the urban route network design increasingly complex. Contemporary public transportation network design problems are based more on efficiency goals such as the accessibility and comfort of the transportation network, which increases the difficulty of analyzing the problem. Bus network design is not only an NP-hard (nondeterministic polynomial) problem but also a multivariable and multiobjective problem. This paper focuses on the bivariate and multiobjective bus network design problem of route generation and station selection. This paper proposes an algorithm called the Pseudo Force Field. By combining the idea of Particle Swarm Optimization (PSO) and the properties of the force field, a feasible route generation scheme is provided for the design of the bus network. The algorithm does not need to determine the end station and has a high degree of completion of the demand. This solves the problem of the selection of terminal stations in large-scale road network design. On this basis, the article combines Genetic Algorithm (GA) and Pareto frontier to provide a new route optimization algorithm and proves the effectiveness of the algorithm. The model has achieved theoretical results in the design of the bus route network in the megacity of Shenzhen, China. [ABSTRACT FROM AUTHOR]

Traffic congestion in the adjacent region between the highway and urban expressway is becoming more and more serious. This paper proposes a traffic speed forecast method based on the Macroscopic Fundamental Diagram (MFD) and Gated Recurrent Unit (GRU) model to provide the necessary traffic guidance information for travelers in this region. Firstly, considering that the road traffic speed is affected by the macroscopic traffic state, the adjacent region between the highway and expressway is divided into subareas based on the MFD. Secondly, the spatial-temporal correlation coefficient is proposed to measure the correlation between subareas. Then, the matrix of regional traffic speed data is constructed. Thirdly, the matrix is input into the GRU prediction model to get the predicted traffic speed. The proposed algorithm's prediction performance is verified based on the GPS data collected from the adjacent region between Beijing Highways and Expressway. [ABSTRACT FROM AUTHOR]

In this paper, a single-vehicle static partial repositioning problem (SPRP) is investigated, which distinguishes the user dissatisfaction generated by different stations. The overall objective of the SPRP is to minimize the weighted sum of the total operational time and the total absolute deviation from the target number of bikes at all stations. An iterated local search is developed to solve this problem. A novel loading and unloading quantity adjustment operator is proposed to further improve the quality of the solution. Experiments are conducted on a set of instances from 30 to 300 stations to demonstrate the effectiveness of the proposed customized solution algorithm as well as the adjustment operator. Using a small example, this paper also reveals that the unit penalty cost has an effect on the repositioning strategies. [ABSTRACT FROM AUTHOR]

The development of the civil aviation industry has continuously increased the requirements for the efficiency of airport ground support services. In the existing ground support research, there has not yet been a process model that directly obtains support from the ground support log to study the causal relationship between service nodes and flight delays. Most ground support studies mainly use machine learning methods to predict flight delays, and the flight support model they are based on is an ideal model. The study did not conduct an in-depth study of the causal mechanism behind the ground support link and did not reveal the true cause of flight delays. Therefore, there is a certain deviation in the prediction of flight delays by machine learning, and there is a certain deviation between the ideal model based on the research and the actual service process. Therefore, it is of practical significance to obtain the process model from the guarantee log and analyze its causality. However, the existing process causal factor discovery methods only do certain research when the assumption of causal sufficiency is established and does not consider the existence of latent variables. Therefore, this article proposes a framework to realize the discovery of process causal factors without assuming causal sufficiency. The optimized fuzzy mining process model is used as the service benchmark model, and the local causal discovery algorithm is used to discover the causal factors. Under this framework, this paper proposes a new Markov blanket discovery algorithm that does not assume causal sufficiency to discover causal factors and uses benchmark data sets for testing. Finally, the actual flight service data are used for causal discovery among flight service nodes. The local causal discovery algorithm proposed in this paper has a certain competitive advantage in accuracy, F1, and other aspects of the existing causal discovery algorithm. It avoids the occurrence of its dimensional disaster. Through the in-depth analysis of the flight safety reason node discovered by this method, it is found that the unreasonable scheduling of flight support personnel is an important reason for frequent flight delays at the airport. [ABSTRACT FROM AUTHOR]

One of the top issues in logistics management and related research is to establish an effective distribution system that is adaptive to new retail and capable of lowering the cost of logistics while enhancing consumer satisfaction. Aimed at reversing the weak points of current logistics distribution patterns, a dual-objective bipolar model with optimal logistics cost and consumer satisfaction by restraining distribution time and load is tested in this paper to figure out the proper nodes and vehicle routes. Data from general and front warehouses of PuPu mall, a Fuzhou-based online retail enterprise, are made into a case study. Moreover, the immune algorithm and genetic algorithm are adopted to achieve the model solution. It is found that the immune algorithm is more efficient than the genetic algorithm in searching solutions, thus having better adaptivity and effectiveness, and also that the type of distribution vehicle plays a significant role in determining the total distribution cost. [ABSTRACT FROM AUTHOR]

The security travel of freight vehicles is of high societal concern and is the key issue for urban managers to effectively supervise and assess the possible social security risks. With continuous improvements in motion-based technology, the trajectories of freight vehicles are readily available, whose unusual changes may indicate hidden urban risks. Moreover, the increasing high spatial and temporal resolution of trajectories provides the opportunity for the real-time recognition of the abnormal or risky vehicle motion. However, the existing researches mainly focus on the spatial anomaly detection, and there are few researches on the real-time temporal anomaly detection. In this paper, a grid-based algorithm, which combines the spatial and temporal anomaly detection, is proposed for tracing the risk of urban freight vehicles trajectory by considering local temporal window. The travel time probability distribution of vehicle historical trajectory is analyzed to meet the time complexity requirements of real-time anomaly calculation. The developed methodology is applied to a case study in Beijing to demonstrate its accuracy and effectiveness. [ABSTRACT FROM AUTHOR]

Contributions of measurements for detecting drowsy driving are determined by calculation parameters, which are directly related to the accuracy of drowsiness detection. The previous studies utilized the same Unified Calculation Parameters (UCPs) to compute each driver's measurements. However, since each driver has unique driving behavior characteristics, namely, driver fingerprinting, Individual Drivers' Best Calculation Parameters (IDBCPs) making measurements more discriminative for drowsiness are various. Regardless of the difference in driver fingerprinting among the drivers being tested, using UCPs instead of IDBCPs to compute measurements will limit the drowsiness-detection performance of the measurements and reduce drowsiness-detection accuracies at the individual driver level. Thus, this paper proposed a model to optimize calculation parameters of individual driver's measurements and to extract individual driver's measurements that effectively distinguish drowsy driving. Through real vehicle experiments, we collected naturalistic driving data and subjective drowsy levels evaluated by the Karolinska Sleepiness Scale. Eight nonintrusive drowsiness-related measurements were calculated by double-layer sliding time windows. In the proposed model, we firstly applied the Wilcoxon test to analyze differences between measurements of the awake state and drowsy state, and constructed the fitness function reflecting the relationship between the calculation parameters and measurement's drowsiness-detection performance. Secondly, the genetic algorithms were used to optimize fitness functions to obtain measured IDBCPs. Finally, we selected measurements calculated by IDBCPs that can distinguish drowsy driving to constitute individual drivers' optimal drowsiness-detection measurement set. To verify the advantages of IDBCPs, the measurements calculated by UCPs and IDBCPs were, respectively, used to build driver-specific drowsiness-detection models: DF_U and DF_I based on the Fisher discriminant algorithm. The mean drowsiness-detection accuracies of DF_U and DF_I were, respectively, 85.25% and 91.06%. It indicated that IDBCPs could enhance measurements' drowsiness-detection performance and improve the drowsiness-detection accuracies. This paper contributed to the establishment of personalized drowsiness-detection models considering driver fingerprinting differences. [ABSTRACT FROM AUTHOR]

With the development of civil aviation, the number of flights keeps increasing and the flight delay has become a serious issue and even tends to normality. This paper aims to prove that Stacking algorithm has advantages in airport flight delay prediction, especially for the algorithm selection problem of machine learning technology. In this research, the principle of the Stacking classification algorithm is introduced, the SMOTE algorithm is selected to process imbalanced datasets, and the Boruta algorithm is utilized for feature selection. There are five supervised machine learning algorithms in the first-level learner of Stacking including KNN, Random Forest, Logistic Regression, Decision Tree, and Gaussian Naive Bayes. The second-level learner is Logistic Regression. To verify the effectiveness of the proposed method, comparative experiments are carried out based on Boston Logan International Airport flight datasets from January to December 2019. Multiple indexes are used to comprehensively evaluate the prediction results, such as Accuracy, Precision, Recall, F1 Score, ROC curve, and AUC Score. The results show that the Stacking algorithm not only could improve the prediction accuracy but also maintains great stability. [ABSTRACT FROM AUTHOR]

In transport systems, all equipment requires maintenance, which directly affects the machine's availability and consequently the planned transport schedule. The purpose of this paper is to carry out a method for integrating recovery jobs in railway systems. The proposed method allows the insertion of preventive and corrective maintenance operations when the transport equipment is available in order to minimize periods of inactivity, avoid catastrophic scenarios, and maintain stability and safety of the studied networks. A computing algorithm, allowing insertion of the planned recovery tasks in periods of metro availability, without changing the initial scheduling solution, is established. Finally, we illustrate the implementation of the proposed approach on Tunisian Sahel railway transport networks. [ABSTRACT FROM AUTHOR]

Traditional bus operations in suburban areas are inefficient due to their fixed routes and timetables. Since suburban operations deal with low demand spread in a large area, the service stays underused for most off-peak hours. In order to render the operation profitable and increase the number of passengers on each bus, operators reduce the frequency of the service, which results in an increase of passenger waiting time for the service. As a solution to this problem, this paper introduces a demand-responsive public bus system that aims to adjust routes and timetables of a semiflexible system to the demand for transportation. The operation still offers a reliable service like the traditional system but aims to reduce the passenger travel time. A memetic algorithm is developed to optimize this demand-responsive system. For a network with 25 bus stops served hourly by three lines and with an average demand of 20 requests per hour, the memetic algorithm is demonstrated to reduce the passenger waiting time with almost 50% in comparison with a traditional system operating in the same network with fixed routes and timetable. [ABSTRACT FROM AUTHOR]

To make agents' route decision-making behaviours as real as possible, this paper proposes a layered navigation algorithm, emphasizing the coordinating of the global route planning at strategic level and the local route planning at tactical level. Specifically, by an improved visibility graph method, the global route is firstly generated based on static environment map. Then, a new local route planning (LRP) based on dynamic local environment is activated for multipath selection to allow pedestrian to respond changes at a real-time sense. In particular, the LRP model is developed on the basis of a passenger's psychological motivation. The pedestrians' individual preferences and the uncertainties existing in the process of evaluation and choice are fully considered. The suitable local path can be generated according to an estimated passing time. The LRP model is applied to the choice of ticket gates at a subway station, and the behaviours of gate choosing and rechoosing are investigated. By utilizing C++, the layered navigation algorithm is implemented. The simulation results exhibit agents' tendency to avoid congestion, which is often observed in real crowds. [ABSTRACT FROM AUTHOR]

This paper describes an optimization model for an irregular train schedule. The aim is to optimize both the maximum train loading rate and the average deviation of departure intervals under time-varying passenger transport demand for an urban rail transit line in consideration of practical train operation constraints, i.e., headway, running time between stations, dwell time, and capacity. A heuristic simulated-annealing algorithm is designed to solve the optimization model, and a case study of an urban rail transit line is performed to assess its efficacy. The results show that, compared with the current regular train schedule, the total train dwell time under the optimized irregular schedule is reduced from 900 s to 848 s, and the reduction ratio for the maximum train loading rate is from 1.2% to 3.6% for different stations. When the average train departure interval is allowed to vary from 120 to 170 s, the optimized irregular schedule decreases the maximum train loading rate of the collinear and noncollinear sections by 3.21%–4.82% and 2.52%–3.64%, respectively. Sensitivity analysis is performed for a nonnegative weight coefficient, average train departure interval, and proportion of full-length and short-turn routings. The proposed approach can be used to support capacity improvement and schedule optimization for urban rail transit lines. [ABSTRACT FROM AUTHOR]

In many cities and regions, decision makers independently develop Train Operation Plan (TOP) for each line in the rail transit network, resulting in a lack of TOP Synchronization (TOPS). Considering the entire network as a whole, researchers have realized that synchronous optimization is of great significance. In this paper, we formulate two Mixed-Integer Linear Programming (MILP) models to optimize demand-driven TOP in the network. The former is an Asynchronous TOP Optimization (ATOPO) model, while the latter is a Synchronous TOP Optimization (STOPO) model. The bi-objective models simultaneously determine train frequency, train timetable, and rolling stock circulation under small-granularity passenger demand to minimize trains' total cost and passengers' total time. Then, we propose the Nondominated Sorting Coevolutionary Memetic Algorithm (NSCMA) to solve the combinatorial optimization problems. The hybrid heuristic algorithm incorporates Coevolutionary Memetic Algorithm (CMA) into Advanced and Adaptive Nondominated Sorting Genetic Algorithm II (AANSGA-II) to ameliorate the evolution process for elite individuals. On this basis, we study the case of Shenyang Metro to verify the models and the algorithm. The results demonstrate that the STOPO model is better than the ATOPO model in reducing trains' total cost and passengers' total time. In addition, NSCMA is better than AANSGA-II in obtaining elite individuals. [ABSTRACT FROM AUTHOR]

This paper proposes an elastic demand network equilibrium model for networks with transit and walking modes. In Hong Kong, the multi-mode transit system services over 90% of the total journeys and the demand on it is continuously increasing. Transit and walking modes are related to each other as transit passengers have to walk to and from transit stops. In this paper, the multi-mode elastic-demand network equilibrium problem is formulated as a variational inequality problem where the combined mode and route choices are modeled in a hierarchical logit structures and the total travel demand for each origin-destination pair is explicitly given by an elastic demand function. In addition, the capacity constraint for transit vehicles and the effects of bi-directional flows on walkways are considered in the proposed model. All these congestion effects are taken into account for modeling the travel choices. A solution algorithm is developed to solve the multi-mode elastic-demand network equilibrium model. It is based on a Block Gauss-Seidel decomposition approach coupled with the method of successive averages. A numerical example is used to illustrate the application of the proposed model and solution algorithm. [ABSTRACT FROM AUTHOR]

Inclement winter weather such as snow, sleet, and freezing rain significantly impacts roadway safety. To assess the safety implications of winter weather, maintenance operations, and traffic operations, various crash frequency models have been developed. In this study, several datasets, including for weather, snowplow operations, and traffic information, were combined to develop a robust crash frequency model for winter weather conditions. When developing statistical models using such large-scale multivariate datasets, one of the challenges is to determine which explanatory variables should be included in the model. This paper presents a feature selection framework using a machine-learning algorithm known as the Boruta algorithm and exhaustive search to select a list of variables to be included in a negative binomial crash frequency model. This paper's proposed feature selection framework generates consistent and intuitive results because the feature selection process reduces the complexity of interactions among different variables in the dataset. This enables our crash frequency model to better help agencies identify effective ways to improve roadway safety via winter maintenance operations. For example, increased plowing operations before the start of storms are associated with a decrease in crash rates. Thus, pretreatment operations can play a significant role in mitigating the impact of winter storms. [ABSTRACT FROM AUTHOR]

An airport gate is the core resource of an airport operation, which is an important place for passengers to get on and off the aircraft and for maintaining aircraft. It is the prerequisite for other related dispatch. Effective and reasonable allocation of gates can reduce airport operating costs and increase passenger satisfaction. Therefore, an airport gate assignment problem (AGAP) needs to be urgently solved in the actual operation of the airport. In this paper, considering the actual operation of the airport, we formulate an integer programming model for AGAP by considering multiple constraints. The model aims to maximize the number of passengers on flights parked at the gate. A tabu search-based algorithm is designed to solve the problem. In the process of algorithm design, an effective initial solution is obtained. A unique neighborhood structure and search strategy for tabu search are designed. The algorithm can adapt to the dynamic scheduling of airports. Finally, tests are performed using actual airport data selected from Kunming Changshui International Airport in China. The experimental results indicate that the proposed method can enhance the local search ability and global search ability and get satisfactory results in a limited time. These results provide an effective support for the actual gate assignment in airport operations. [ABSTRACT FROM AUTHOR]

The autonomous vehicle consists of perception, decision-making, and control system. The study of path planning method has always been a core and difficult problem, especially in complex environment, due to the effect of dynamic environment, the safety, smoothness, and real-time requirement, and the nonholonomic constraints of vehicle. To address the problem of travelling in complex environments which consists of lots of obstacles, a two-layered path planning model is presented in this paper. This method includes a high-level model that produces a rough path and a low-level model that provides precise navigation. In the high-level model, the improved Bidirectional Rapidly-exploring Random Tree (Bi-RRT) based on the steering constraint is used to generate an obstacle-free path while satisfying the nonholonomic constraints of vehicle. In low-level model, a Vector Field Histogram- (VFH-) guided polynomial planning algorithm in Frenet coordinates is introduced. Based on the result of VFH, the aim point chosen from improved Bi-RRT path is moved to the most suitable location on the basis of evaluation function. By applying quintic polynomial in Frenet coordinates, a real-time local path that is safe and smooth is generated based on the improved Bi-RRT path. To verify the effectiveness of the proposed planning model, the real autonomous vehicle has been placed in several driving scenarios with different amounts of obstacles. The two-layered real-time planning model produces flexible, smooth, and safe paths that enable the vehicle to travel in complex environment. [ABSTRACT FROM AUTHOR]

As the basic system of the rescue robot, the SLAM system largely determines whether the rescue robot can complete the rescue mission. Although the current 2D Lidar-based SLAM algorithm, including its application in indoor rescue environment, has achieved much success, the evaluation of SLAM algorithms combined with path planning for indoor rescue has rarely been studied. This paper studies mapping and path planning for mobile robots in an indoor rescue environment. Combined with path planning algorithm, this paper analyzes the applicability of three SLAM algorithms (GMapping algorithm, Hector-SLAM algorithm, and Cartographer algorithm) in indoor rescue environment. Real-time path planning is studied to test the mapping results. To balance path optimality and obstacle avoidance, A ∗ algorithm is used for global path planning, and DWA algorithm is adopted for local path planning. Experimental results validate the SLAM and path planning algorithms in simulated, emulated, and competition rescue environments, respectively. Finally, the results of this paper may facilitate researchers quickly and clearly selecting appropriate algorithms to build SLAM systems according to their own demands. [ABSTRACT FROM AUTHOR]

Human drivers' behavior, which is very difficult to model, is a very complicated stochastic system. To characterize a high-accuracy driver behavior model under different roadway geometries, the paper proposes a new algorithm of driver behavior model based on the whale optimization algorithm-restricted Boltzmann machine (WOA-RBM) method. This method establishes an objective optimization function first, which contains the training of RBM deep learning network based on the real driver behavior data. Second, the optimal training parameters of the restricted Boltzmann machine (RBM) can be obtained through the whale optimization algorithm. Finally, the well-trained model can be used to represent the human drivers' operation effectively. The MATLAB simulation results showed that the driver model can achieve an accuracy of 90%. [ABSTRACT FROM AUTHOR]

Off-road intelligent vehicle is an important application about Internet of Vehicles technology used in the transportation field, and the front obstacle recognition method is the key technology for off-road intelligent vehicle. In this paper, based on smart data aggregation inspired paradigm of IoT applications, we mainly study perception technology in vehicle networking by using image data and one symmetrical speeded-up robust features detector (SURF). By considering symmetry and image data aggregation, we found that data aggregation had the ability of providing global information for Internet of Vehicles systems. After we have built the experiment platform, the experiment results showed that this method is faster than Scale-Invariant Feature Transform algorithm in this case, which can satisfy the water detection accuracy and the real-time requirement. So, this method is effective for the water images detection with great symmetry to off-road intelligent vehicle, and it also gives a useful reference about environment perception technology and smart data aggregation inspired paradigm used in future Internet of Vehicles, intelligent vehicle, and traffic safety applications. [ABSTRACT FROM AUTHOR]

A number of research papers have recently shown that the use of techniques based on the installation of vehicle identification devices allows us to address the observability problem of a traffic network in a much more efficient way than if it were done with traditional techniques. The use of such devices can lead to a better data set in terms of flows and therefore to a better definition of traffic flows, which is essential for traffic management in cities and regions. However, the current methodologies aimed at network modeling and data processing which are not fully adapted to the use of these devices in obtaining the necessary data for analyzing traffic and making network forecasts. This is because the essential variable in models which used data from plate scanning (as a particular case of AVI sensors) is composed of the route flows, while traditional methods are based on the observation of link and/or origin-destination flows. In this context, this paper proposes several practical contributions, in particular: (1) a traffic network design method aimed to use the plate scanning data to estimate traffic flows and (2) an algorithm for locating plate reader devices to reduce the effect of the uncertain knowledge of route enumeration. Next, using the well-known Nguyen-Dupuis network, a sensitivity analysis has been carried out to evaluate the influence of different parameters of the model on the final solution. These parameters are the considered routes, the degree of network simplification, and the available budget to install devices. Finally, the method has been applied to a real network. [ABSTRACT FROM AUTHOR]

With energy and environmental issues becoming increasingly prominent, electric vehicles (EVs) have become the important transportation means in the logistics distribution. In the real-world urban road network, there often exist multiple paths between any two locations (depot, customer, and charging station) since the time-dependent travel times. That is, the travel speed of an EV on each path may be different during different time periods, and thus, this paper explicitly considers path selection between two locations in the time-dependent electric vehicle routing problem with time windows, denoted as path flexibility. Therefore, the integrated decision-making should include not only the routing plan but also the path selection, and the interested problem of this paper is a time-dependent electric vehicle routing problem with time windows and path flexibility (TDEVRP-PF). In order to determine the optimal path between any two locations, an optimization model is established with the goal of minimizing the distance and the battery energy consumption associated with travel speed and cargo load. On the basis of the optimal path model, a 0-1 mixed-integer programming model is then formulated to minimize the total travel distance. Hereinafter, an improved version of the variable neighborhood search (VNS) algorithm is utilized to solve the proposed models, in which multithreading technique is adopted to improve the solution efficiency significantly. Ultimately, several numerical experiments are carried out to test the performance of VNS with a view to the conclusion that the improved VNS is effective in finding high-quality distribution schemes consisted of the distribution routes, traveling paths, and charging plans, which are of practical significance to select and arrange EVs for logistics enterprises. [ABSTRACT FROM AUTHOR]

Path planning for the multiagent, which is generally based on the artificial potential energy field, reflects the decision-making process of pedestrian walking and has great importance on the field multiagent system. In this paper, after setting the spatial-temporal simulation environment with large cells and small time segments based on the disaggregation decision theory of the multiagent, we establish a generalized dynamic potential energy model (DPEM) for the multiagent through four steps: (1) construct the space energy field with the improved Dijkstra algorithm, and obtain the fitting functions to reflect the relationship between speed decline rate and space occupancy of the agent through empirical cross experiments. (2) Construct the delay potential energy field based on the judgement and psychological changes of the multiagent in the situations where the other pedestrians have occupied the bottleneck cell. (3) Construct the waiting potential energy field based on the characteristics of the multiagent, such as dissipation and enhancement. (4) Obtain the generalized dynamic potential energy field by superposing the space potential energy field, delay potential energy field, and waiting potential energy field all together. Moreover, a case study is conducted to verify the feasibility and effectiveness of the dynamic potential energy model. The results also indicate that each agent's path planning decision such as forward, waiting, and detour in the multiagent system is related to their individual characters and environmental factors. Overall, this study could help improve the efficiency of pedestrian traffic, optimize the walking space, and improve the performance of pedestrians in the multiagent system. [ABSTRACT FROM AUTHOR]

In the transportation industry, crew management is typically decomposed into two phases: crew scheduling and crew rostering. Due to the complexity of scheduling and rostering, bus transportation is not an exception and many relevant studies do not consider both procedures simultaneously. However, such a decomposition can yield inferior schedules/rosters. To address this issue, this paper proposes an integrated scheduling and rostering model for bus drivers and devises a branch-and-price-and-cut (BPC) algorithm to solve the complex problem. The proposed solution framework is empirically applied to real-world instances with various problem sizes whose data is collected from H Bus Company located in southern Taiwan. To validate the effectiveness and evaluate the efficiency of the proposed solution framework, this paper compares the solution obtained from the BPC algorithm with that of a benchmark optimization package. The results show that the proposed BPC algorithm can solve problems with large real-world instances within a reasonable computational time. Moreover, in the numerical experiments, this paper finds that the scheduling and rostering results of the bus drivers are more sensitive to the rostering constraints. Also, the proposed integrated framework can yield a better solution than the solution from a conventional two-phase approach, which demonstrates the advantage of the integration in this paper. The proposed method provided can be employed to deal with the challenges in driver planning for bus companies. [ABSTRACT FROM AUTHOR]

Vessel trajectory data are currently the most important data source for vessel trajectory data mining research. However, vessel AIS data have a short sampling time interval and a large amount of data redundancy, which hampers the efficient utilization of AIS data. In order to effectively remove redundant information from AIS data and improve its usage efficiency, a compression algorithm for vessel trajectory data compression algorithm considering critical region identification (VATDC_CCRI) is proposed. The VATDC_CCRI algorithm identifies the critical regions of a vessel's trajectory by analyzing the distribution of node variation rates. It employs the Douglas–Peucker (DP) algorithm to compress the data in these critical regions, reducing the distortion of the trajectory after compression. Additionally, the algorithm utilizes a sliding window approach to process the initial trajectory to improve the quality of the compressed vessel trajectories and retain as many spatiotemporal characteristics of the original trajectories as possible. It combines the feature nodes from the crucial regions in the vessel's trajectory with the results obtained from the sliding window algorithm, effectively compressing the vessel's trajectory. Experiments conducted on individual and multiple trajectories demonstrate that the VATDC_CCRI algorithm achieves higher compression rates and exhibits faster processing speeds compared to other classical vessel trajectory compression algorithms while preserving the shape of the vessel's trajectory significantly. [ABSTRACT FROM AUTHOR]

Accurate access to real-time passenger flows on subway platforms helps to refine management in the era of networked operations. The narrow subway platforms suffer from significant crowd scale discrepancies and complex backgrounds when counting passenger flow. In the proposed passenger flow counting algorithm, the feature-enhanced pyramid structure is used to retain the channel information of deep features and eliminate the aliasing effect caused by fusion to enhance the feature representation of the original image and effectively solve the scale problem. The mixed attention mechanism suppresses background interference by capturing the global context relationship and focusing on the target area. On the ShanghaiTech Part_A dataset, the mean absolute error (MAE) and mean square error (MSE) of the proposed algorithm are 2.3% and 1.4% higher than those of the comparison algorithm, respectively. The MAE and MSE on the self-built platform dataset reach 3.1 and 5.7, respectively. The experimental results show that the accuracy of the proposed algorithm is improved and can meet the counting requirements of the subway platform scene. [ABSTRACT FROM AUTHOR]

It is a challenge to maintain a safe and efficient tracking for multiple high-speed trains under the moving block operational mode. In this paper, a novel cooperative tracking control based on a consensus algorithm and artificial potential field theory is proposed to realize the train tracking within a distance range. A tunable artificial potential function is first designed to dynamically adjust the distance between adjacent high-speed trains with real-time train states. By regulating the parameters of the artificial potential function, the safety distance can be adjusted according to the required tolerance deviation of the actual distance. Under the proposed strategy, each high-speed train operates with the desired speed and tracks the preceding one with an adjustable distance range. Numerical train operational cases are investigated to illustrate the effectiveness of the proposed methods. [ABSTRACT FROM AUTHOR]

In civil aviation flight path planning, in order to effectively reduce the safety threat caused by the volcanic ash area to the civil aviation flight, factors such as the speed and acceleration of the aircraft in the volcanic ash area must be considered. In this paper, we propose an improved A-star algorithm by adopting the concept of potential collision set and using the velocity vector idea of optimal reciprocal collision avoidance (ORCA). The improved A-star algorithm selects the optimal speed range of the aircraft from the limited elements, obtains the speed and acceleration set of the aircraft in the volcanic ash area, calculates the flight path through the displacement increment, continuously refreshes the global starting point to the target point, and finally obtains the final path planning results by calculating the total cost value. The improved A-star algorithm is used to plan two flight paths from Madrid to Cairo and Algiers to Rome in volcanic ash areas. The verification results show that the improved A-star algorithm optimizes the flight path planning in the volcanic ash area and has the advantages of less search nodes, a small search range, and short computing time. [ABSTRACT FROM AUTHOR]

With vigorous development of the maritime trade, many intelligent algorithms have been proposed to avoid collisions due to resulting casualties and increased costs. According to the international regulations for preventing collisions at sea (COLREGs) and the self-evolution ability of the intelligent algorithm, the collision avoidance trajectory can be more consistent with the requirements of reality and maritime personnel. In this paper, the optimization of ship collision avoidance strategies is realized by both an improved multiobjective optimization algorithm NSGA-II and the ship domain under the condition of a wide sea area without any external disturbances. By balancing the safety and economy of ship collision avoidance, the avoidance angle and the time to the action point are used as the variables encoded by the algorithm, and the fuzzy ship domain is used to calculate the collision avoidance risk to achieve collision avoidance. The simulation results show that the proposed method can optimize the ship collision avoidance strategy and provide a reasonable scheme for ship navigation. [ABSTRACT FROM AUTHOR]

There are differences between the requirements for traffic network for traffic demand in daily and emergency situations. In order to evaluate how the network designed for daily needs can meet the surging demand for emergency evacuation, the concept of emergency reliability and corresponding evaluation method is proposed. This paper constructs a bilevel programming model to describe the proposed problem. The upper level problem takes the maximum reserve capacity multiplier as the optimization objective and considers the influence of reversible lane measures taken under emergency conditions. The lower level model adopts the combined traffic distribution/assignment model with capacity limits, to describe evacuees' path and shelter choice behavior under emergency conditions and take into account the traits of crowded traffic. An iterative optimization method is proposed to solve the upper level model, and the lower level model is transformed into a UE assignment problem with capacity limits over a network of multiple origins and single destination, by adding a dummy node and several dummy links in the network. Then a dynamic penalty function algorithm is used to solve the problem. In the end, numerical studies and results are provided to demonstrate the rationality of the proposed model and feasibility of the proposed solution algorithms. [ABSTRACT FROM AUTHOR]

On the foundation of the original backpressure-based traffic light control algorithm, a distributed cooperative backpressure-based traffic light control method is proposed in this paper. The urban traffic network is modeled as a smart agent-controlled queuing network, in which the intersection agents exchange the queue length information and the selected activating light phase information of neighboring intersections through communications and determine the activating light phase at each time slot according to local traffic information. The improved phase pressure computation method considers the phase state of downstream intersections instead of only the queue length of the local intersections. Light phase switching coordination among adjacent intersections is achieved using the consensus-based bundle algorithm, in which the cooperative light phase switching problem is viewed as a task assignment issue among adjacent intersections. Simulation results illustrated that the proposed cooperative backpressure-based traffic light control method obtained better performance than the original backpressure-based and fixed-time traffic control methods. [ABSTRACT FROM AUTHOR]

Pavement cracking is a significant symptom of pavement deterioration and deficiency. Conventional manual inspections of road condition are gradually replaced by novel automated inspection systems. As a result, a great amount of pavement surface information is digitized by these systems with a high resolution. With pavement surface data, pavement cracks can be detected using crack detection algorithms. In this paper, a fully automated algorithm for segmenting and enhancing pavement crack is proposed, which consists of four major procedures. First, a preprocessing procedure is employed to remove spurious noise and rectify the original 3D pavement data. Second, crack saliency maps are segmented from 3D pavement data using steerable matched filter bank. Third, 2D tensor voting is applied to crack saliency maps to achieve better curve continuity of crack structure and higher accuracy. Finally, postprocessing procedures are used to remove redundant noises. The proposed procedures were evaluated over 200 asphalt pavement images with diverse cracks. The experimental results demonstrated that the proposed method showed a high performance and could achieve average precision of 88.38%, recall of 93.15%, and F-measure of 90.68%, respectively. Accordingly, the proposed approach can be helpful in automated pavement condition assessment. [ABSTRACT FROM AUTHOR]

Reinforcement learning method has a self-learning ability in complex multidimensional space because it does not need accurate mathematical model and due to the low requirement for prior knowledge of the environment. The single intersection, arterial lines, and regional road network of a group of multiple intersections are taken as the research object on the paper. Based on the three key parameters of cycle, arterial coordination offset, and green split, a set of hierarchical control algorithms based on reinforcement learning is constructed to optimize and improve the current signal timing scheme. However, the traffic signal optimization strategy based on reinforcement learning is suitable for complex traffic environments (high flows and multiple intersections), and the effects of which are better than the current optimization methods in the conditions of high flows in single intersections, arteries, and regional multi-intersection. In a word, the problem of insufficient traffic signal control capability is studied, and the hierarchical control algorithm based on reinforcement learning is applied to traffic signal control, so as to provide new ideas and methods for traffic signal control theory. [ABSTRACT FROM AUTHOR]

This paper presents a novel approach for path-following control of a four-wheeled autonomous vehicle. The rear wheels of the vehicle are driven independently, all four wheels can be braked independently, and the front wheels are steered together. The proposed cascade structure consists of two convex optimization-based parts: one for path-following and another for the control allocation problem of the actuators. The control algorithm presents cost functions for the allocation problem focusing on safety. The proposed cost functions were examined and compared to former ones in a simulation environment. After all, the controller was tested in real-time test on a Lotus Evora test vehicle developed by ThyssenKrupp. [ABSTRACT FROM AUTHOR]

Calibrating the microsimulation model is essential to enhance its ability to capture reality. The paper proposes a Bayesian neural network (BNN)-based method to calibrate parameters of microscopic traffic simulators, which reduces repeated running of simulations in the calibration and thus significantly improves the calibration efficiency. We use BNN with probability distributions on the weights to quickly predict the simulation results according to the inputs of the parameters to be calibrated. Based on the BNN model with the best performance, heuristic algorithms (HAs) are performed to seek the optimal values of the parameters to be calibrated with the minimum difference between the predicted results of BNN and the field-measured values. Three HAs are considered, including genetic algorithm (GA), evolutionary strategy (ES), and bat algorithm (BA). A TransModeler case of highway links in Shanghai, China, indicates the validity of the proposed calibration method in terms of error and efficiency. The results demonstrate that the BNN model is able to accurately predict the simulation and adequately capture the uncertainty of the simulation. We also find that the BNN-BA model produces the best calibration efficiency, while the BNN-ES model offers the best performance in calibration accuracy. [ABSTRACT FROM AUTHOR]

Shunting yards are one of the main areas impacting the reliability of rail freight networks, and delayed departures from shunting yards can further also affect the punctuality of mixed-traffic networks. Methods for automatic detection of departures, which are likely to be delayed, can therefore contribute towards increasing the reliability and punctuality of both freight and passenger services. In this paper, we compare the performance of tree-based methods (decision trees and random forests), which have been highly successful in a wide range of generic applications, in classifying the status of (delayed, early, and on-time) departing trains from shunting yards, focusing on the delayed departures as the minority class. We use a total number of 6,243 train connections (representing over 21,000 individual wagon connections) for a one-month period from the Hallsberg yard in Sweden, which is the largest shunting yard in Scandinavia. Considering our dataset, our results show a slight difference between the application of decision trees and random forests in detecting delayed departures as the minority class. To remedy this, enhanced sampling for minority classes is applied by the synthetic minority oversampling technique (SMOTE) to improve detecting and assigning delayed departures. Applying SMOTE improved the sensitivity, precision, and F-measure of delayed departures by 20% for decision trees and by 30% for random forests. Overall, random forests show a relative better performance in detecting all three departure classes before and after applying SMOTE. Although the preliminary results presented in this paper are encouraging, future studies are needed to investigate the computational performance of tree-based algorithms using larger datasets and considering additional predictors. [ABSTRACT FROM AUTHOR]

Traffic safety is affected by many complex factors. Mind wandering (MW) is a fatal cause affecting driving safety and is hard to be detected and prevented due to its uncertain and complex occurrence mechanism. The aim of this study was to propose a framework for analyzing and predicting MW based on readily available driving status data. The data used in this study are the single-trip information collected by the questionnaire, which includes drivers' personal characteristics, contextual information in which MW occurs, and in-vehicle environmental factors. After investigating the extent of factors that influence MW, these chosen factors are used to forecast MW. Based on these results, we select factors reliable to be obtained in real life to forecast MW. To verify that the new factors explored are useful in improving the forecast accuracy, the compared analysis is conducted with the results found by our approach and the existing approaches. We compare results obtained by four machine-learning-enabled forecasting approaches on a real-life data set. The result shows that the factors found in this paper can significantly improve forecast accuracy. The confusion matrix, ROC curves, and AUC are conducted, and the performance of the gradient boosting decision tree algorithm is better than other forecast approaches. The importance rankings of most factors obtained by the Gradient Boosting Decision Tree and questionnaire are the same. [ABSTRACT FROM AUTHOR]

The timetabling problem (TTP) and vehicle scheduling problem (VSP) are two indispensable problems in public transit planning process. They used to be solved in sequence; hence, optimality of resulting solutions is compromised. To get better results, some integrated approaches emerge to solve the TTP and VSP as an integrated problem. In the existing integrated approaches, the passenger comfort on bus and the uncertainty in the real world are rarely considered. To provide better service for passengers and enhance the robustness of the schedule to be compiled, we study the integrated optimization of TTP and VSP with uncertainty. In this paper, a novel multiobjective optimization approach with the objectives of minimizing the passenger travel cost, the vehicle scheduling cost, and the incompatible trip-link cost is proposed. Meanwhile, a multiobjective hybrid algorithm, which is a combination of the self-adjust genetic algorithm (SGA), large neighborhood search (LNS) algorithm, and Pareto separation operator (PSO), is applied to solve the integrated optimization problem. The experimental results show that the approach outperforms existing approaches in terms of service level and robustness. [ABSTRACT FROM AUTHOR]

Map matching is a key preprocess of trajectory data which recently have become a major data source for various transport applications and location-based services. In this paper, an online map matching algorithm based on the second-order hidden Markov model (HMM) is proposed for processing trajectory data in complex urban road networks such as parallel road segments and various road intersections. Several factors such as driver's travel preference, network topology, road level, and vehicle heading are well considered. An extended Viterbi algorithm and a self-adaptive sliding window mechanism are adopted to solve the map matching problem efficiently. To demonstrate the effectiveness of the proposed algorithm, a case study is carried out using a massive taxi trajectory dataset in Nanjing, China. Case study results show that the accuracy of the proposed algorithm outperforms the baseline algorithm built on the first-order HMM in various testing experiments. [ABSTRACT FROM AUTHOR]

Public security monitoring is a hot issue that the government and citizens pay close attention to. Multiobject tracking plays an important role in solving many problems for public security. Under crowded scenarios and emergency places, it is a challenging problem to predict and warn owing to the complexity of crowd intersection. There are still many deficiencies in the research of multiobject trajectory prediction, which mostly employ object detection and data association. Compared with the tremendous progress in object detection, data association still relied on hand-crafted constraints such as group, motion, and spatial proximity. Emergencies usually have the characteristics of mutation, target diversification, low illumination, or resolution, which makes multitarget tracking more difficult. In this paper, we harness the advance of the deep learning framework for data association in object tracking by jointly modeling pedestrian features. The proposed deep pedestrian tracking SSD-based model can pair and link pedestrian features in any two frames. The model was trained with open dataset, and the results, accuracy, and speed of the model were compared between normal and emergency or violent environment. The experimental results show that the tracking accuracy of mAP is higher than 95% both in normal and abnormal data sets and higher than that of the traditional detection algorithm. The detection speed of the normal data set is slightly higher than that of the abnormal data set. In general, the model has good tracking results and credibility for multitarget tracking in emergency environment. The research provides technical support for safety assurance and behavior monitoring in emergency environment. [ABSTRACT FROM AUTHOR]

Vehicle classification systems have important roles in applications related to real-time traffic management. They also provide essential data and necessary information for traffic planning, pavement design, and maintenance. Among various classification techniques, the length-based classification technique is widely used at present. However, the undesirable speed estimates provided by conventional data aggregation make it impossible to collect reliable length data from a single-point sensor during real-time operations. In this paper, an innovative approach of vehicle classification will be proposed, which achieved very satisfactory results on a single-point sensor. This method has two essential parts. The first concerns with the procedure of smart feature extraction and selection according to the proposed filter-filter-wrapper model. The model of filter-filter-wrapper is adopted to make an evaluation on the extracted feature subsets. Meanwhile, the model will determine a nonredundant feature subset, which can make a complete reflection on the differences of various types of vehicles. In the second part, an algorithm for vehicle classification according to the theoretical basis of clustering support vector machines (C-SVMs) was established with the selected optimal feature subset. The paper also uses particle swarm optimization (PSO), with the purpose of searching for an optimal kernel parameter and the slack penalty parameter in C-SVMs. A total of 460 samples were tested through cross validation, and the result turned out that the classification accuracy was over 99%. In summary, the test results demonstrated that our vehicle classification method could enhance the efficiency of machine-learning-based data mining and the accuracy of vehicle classification. Copyright © 2014 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]

Vehicle detection and tracking from unmanned aerial vehicles (UAVs) aerial images are among the main tasks of intelligent traffic systems. Especially in tasks with long distances, extensive backgrounds, and small objects, it increases the difficulty of localization and regression, which can easily lead to missed detections and false positives. This paper proposes a detection-based small-scale vehicle tracking framework that integrates an improved YOLOX network and the DeepSORT algorithm to address these issues. Based on the original YOLOX network, a shallow feature extraction network, 160×160 pixels, is added to enhance the ability to extract small-scale object features. A convolutional block attention module (CBAM) is inserted in front of the neck network to select crucial information for vehicle detection tasks while suppressing noncritical ones. EIoU_Loss is introduced as the bounding box regression loss function in training to speed up their convergence and improve the localization accuracy of the small objects. Furthermore, an image segmentation method is proposed to effectively reduce missed and false detection events. It divides the original high-definition image into multiple subimages, first detected and then reassembled. Finally, the improved YOLOX network is used as the detector of the DeepSORT to perform small-scale vehicle detection and tracking tasks in various traffic scenarios. Experiments show that the proposed method can significantly improve the detection accuracy of the network and effectively solve the problems of missed detection and false positives in small-scale vehicle tracking tasks in high-resolution aerial images captured by high-altitude UAVs. Significantly, the algorithm proposed in this paper has sufficient robustness for small-scale tracking tasks of aerial videos captured at different altitudes., Author(s): Heshan Zhang [1]; Xin Tan [1]; Mengwei Fan [1]; Cunshu Pan [1]; Zhanji Zheng [1]; Shuang Luo [1]; Jin Xu (corresponding author) [1] 1. Introduction With the rapid development [...]