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To deploy Unmanned Aerial Vehicles (UAVs) inside heterogeneous GPS-denied confined (potentially unknown) spaces, such as those encountered in mining and Urban Search and Rescue (USAR), requires the enhancement of numerous technologies. Of special interest is for UAVs to identify collision-freeSafe Flight Corridors (SFC + ) within highly cluttered convex- and non-convex-shaped environments, which requires UAVs to perform advanced flight maneuvers while exploiting their flying capabilities. Within this paper, a novel auxiliary occupancy checking process that augments traditional 3D flight corridor generation is proposed. The 3D flight corridor is established as a topological structure based on a hand-crafted path either derived from a computer-generated environment or provided by the human operator, which captures humans' preferences and desired flight intentions for the given space. This corridor is formulated as a series of interconnected overlapping convex polyhedra bounded by the perceived environmental geometries, which facilitates the generation of suitable 3D flight paths/trajectories that avoid local minima within the corridor boundaries. An occupancy check algorithm is employed to reduce the search space needed to identify 3D obstacle-free spaces in which their constructed polyhedron geometries are replaced with alternate convex polyhedra. To assess the feasibility and efficiency of the proposed SFC + methodology, a comparative study is conducted against the Star-Convex Method (SCM), a prominent algorithm in the field. The results reveal the superiority of the proposed SFC + methodology in terms of its computational efficiency and reduced search space for UAV maneuvering solutions. Various challenging confined-environment scenarios, each with different obstacle densities (confined scenarios), are utilized to verify the obtained outcomes. [ABSTRACT FROM AUTHOR]

To deploy Unmanned Aerial Vehicles (UAVs) inside heterogeneous GPS-denied confined (potentially unknown) spaces, such as those encountered in mining and Urban Search and Rescue (USAR), requires the enhancement of numerous technologies. Of special interest is for UAVs to identify collision-freeSafe Flight Corridors (SFC+) within highly cluttered convex- and non-convex-shaped environments, which requires UAVs to perform advanced flight maneuvers while exploiting their flying capabilities. Within this paper, a novel auxiliary occupancy checking process that augments traditional 3D flight corridor generation is proposed. The 3D flight corridor is established as a topological structure based on a hand-crafted path either derived from a computer-generated environment or provided by the human operator, which captures humans’ preferences and desired flight intentions for the given space. This corridor is formulated as a series of interconnected overlapping convex polyhedra bounded by the perceived environmental geometries, which facilitates the generation of suitable 3D flight paths/trajectories that avoid local minima within the corridor boundaries. An occupancy check algorithm is employed to reduce the search space needed to identify 3D obstacle-free spaces in which their constructed polyhedron geometries are replaced with alternate convex polyhedra. To assess the feasibility and efficiency of the proposed SFC+ methodology, a comparative study is conducted against the Star-Convex Method (SCM), a prominent algorithm in the field. The results reveal the superiority of the proposed SFC+ methodology in terms of its computational efficiency and reduced search space for UAV maneuvering solutions. Various challenging confined-environment scenarios, each with different obstacle densities (confined scenarios), are utilized to verify the obtained outcomes.

The Sciara del Fuoco (SdF) collapse scar at Stromboli is an active volcanic area affected by rapid morphological changes due to explosive/effusive eruptions and mass-wasting processes. The aim of this paper is to demonstrate the importance of an integrated analysis of multi-temporal remote sensing (photogrammetry, COSMO-SkyMed Synthetic Aperture Radar amplitude image) and marine geophysical data (multibeam and side scan sonar data) to characterize the main morphological, textural, and volumetric changes that occurred along the SdF slope in the 2020–2021 period. The analysis showed the marked erosive potential of the 19 May 2021 pyroclastic density current generated by a crater rim collapse, which mobilized a minimum volume of 44,000 m3 in the upper Sciara del Fuoco slope and eroded 350,000–400,000 m3 of material just considering the shallow-water setting. The analysis allowed us also to constrain the main factors controlling the emplacement of different lava flows and overflows during the monitored period. Despite the morphological continuity between the subaerial and submarine slope, textural variations in the SdF primarily depend on different processes and characteristics of the subaerial slope, the coastal area, the nearshore, and "deeper" marine areas. [ABSTRACT FROM AUTHOR]

The Sciara del Fuoco (SdF) collapse scar at Stromboli is an active volcanic area affected by rapid morphological changes due to explosive/effusive eruptions and mass-wasting processes. The aim of this paper is to demonstrate the importance of an integrated analysis of multi-temporal remote sensing (photogrammetry, COSMO-SkyMed Synthetic Aperture Radar amplitude image) and marine geophysical data (multibeam and side scan sonar data) to characterize the main morphological, textural, and volumetric changes that occurred along the SdF slope in the 2020–2021 period. The analysis showed the marked erosive potential of the 19 May 2021 pyroclastic density current generated by a crater rim collapse, which mobilized a minimum volume of 44,000 m3 in the upper Sciara del Fuoco slope and eroded 350,000–400,000 m3 of material just considering the shallow-water setting. The analysis allowed us also to constrain the main factors controlling the emplacement of different lava flows and overflows during the monitored period. Despite the morphological continuity between the subaerial and submarine slope, textural variations in the SdF primarily depend on different processes and characteristics of the subaerial slope, the coastal area, the nearshore, and “deeper” marine areas.

The term Unmanned Aerial Vehicle (UAV) is often directly associated with the armed forces due to their widely-criticized use of such vehicles on the modern battlefield. However, with the advancement of UAV technology, the acquisition and operational cost of small civilian UAV have reduced while their functionalities have increased. Therefore, a wide variety of new civilian applications have emerged. Mapping industry has been benefited as affordable UAV can partially replace traditional platforms, such as helicopters and small aircrafts, for low altitude photography acquisition. Although relatively new to the industry, the use of UAV is rapidly commercialized and they are expected to have a sizeable impact on the mapping industry in the coming years. The aim of this work was to test the use of a low-cost UAV for orthophoto production and Digital Surface Model (DSM) creation, to be used for the design of a new 23km high voltage line of Electricity Authority of Cyprus. [ABSTRACT FROM AUTHOR]