3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To address these challenges, we propose FC-Planner, a skeleton-guided planning framework that can achieve fast aerial coverage of complex 3D scenes without pre-processing. We decompose the scene into several simple subspaces by a skeleton-based space decomposition (SSD). Additionally, the skeleton guides us to effortlessly determine free space. We utilize the skeleton to efficiently generate a minimal set of specialized and informative viewpoints for complete coverage. Based on SSD, a hierarchical planner effectively divides the large planning problem into independent sub-problems, enabling parallel planning for each subspace. The carefully designed global and local planning strategies are then incorporated to guarantee both high quality and efficiency in path generation. We conduct extensive benchmark and real-world tests, where FC-Planner computes over 10 times faster compared to state-of-the-art methods with shorter path and more complete coverage. The source code will be made publicly available to benefit the community3. Project page: https://hkust-aerial-robotics.github.io/FC-Planner.

A quadrotor with a cable-suspended payload imposes great challenges in impact-aware planning and control. This joint system has dual motion modes, depending on whether the cable is slack or not, and presents complicated dynamics. Therefore, generating feasible agile flight while preserving the retractable nature of the cable is still a challenging task. In this paper, we propose a novel impact-aware planning and control framework that resolves potential impacts caused by motion mode switching. Our method leverages the augmented Lagrangian method (ALM) to solve an optimization problem with nonlinear complementarity constraints (ONCC), which ensures trajectory feasibility with high accuracy while maintaining efficiency. We further propose a hybrid nonlinear model predictive control method to address the model mismatch issue in agile flight. Our methods have been comprehensively validated in both simulation and experiments, demonstrating superior performance compared to existing approaches. To the best of our knowledge, we are the first to successfully perform automatic multiple motion mode switching for aerial payload systems in real-world experiments. The video supplement is available athttps://sites.google.com/view/suspended-payload/.

Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-then-exploit, prior-based or exploration-based strategies, demonstrating inefficiency with repeated flight and low autonomy. In this paper, we propose PredRecon, a prediction-boosted planning framework that can autonomously generate paths for high 3D reconstruction quality. We obtain inspiration from humans can roughly infer the complete construction structure from partial observation. Hence, we devise a surface prediction module (SPM) to predict the coarse complete surfaces of the target from the current partial reconstruction. Then, the uncovered surfaces are produced by online volumetric mapping waiting for observation by UAV. Lastly, a hierarchical planner plans motions for 3D reconstruction, which sequentially finds efficient global coverage paths, plans local paths for maximizing the performance of Multi-View Stereo (MVS), and generates smooth trajectories for image-pose pairs acquisition. We conduct benchmarks in the realistic simulator, which validates the performance of PredRecon compared with the classical and state-of-the-art methods. The open-source code is released at https://github.com/HKUST-Aerial-Robotics/PredRecon.

OBJECTIVE: The US Preventive Services Task Force (USPSTF) requires the estimation of lifetime pack-years to determine lung cancer screening eligibility. Leading electronic health record (EHR) vendors calculate pack-years using only the most recently recorded smoking data. The objective was to characterize EHR smoking data issues and to propose an approach to addressing these issues using longitudinal smoking data. MATERIALS AND METHODS: In this cross-sectional study, we evaluated 16 874 current or former smokers who met USPSTF age criteria for screening (50-80 years old), had no prior lung cancer diagnosis, and were seen in 2020 at an academic health system using the Epic® EHR. We described and quantified issues in the smoking data. We then estimated how many additional potentially eligible patients could be identified using longitudinal data. The approach was verified through manual review of records from 100 subjects. RESULTS: Over 80% of evaluated records had inaccuracies, including missing packs-per-day or years-smoked (42.7%), outdated data (25.1%), missing years-quit (17.4%), and a recent change in packs-per-day resulting in inaccurate lifetime pack-years estimation (16.9%). Addressing these issues by using longitudinal data enabled the identification of 49.4% more patients potentially eligible for lung cancer screening (P < .001). DISCUSSION: Missing, outdated, and inaccurate smoking data in the EHR are important barriers to effective lung cancer screening. Data collection and analysis strategies that reflect changes in smoking habits over time could improve the identification of patients eligible for screening. CONCLUSION: The use of longitudinal EHR smoking data could improve lung cancer screening.

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs). The bottleneck of solving this problem is the accurate perception of rapid dynamic objects. Recently, event cameras have shown great potential in solving this problem. This paper presents a complete perception system including ego-motion compensation, object detection, and trajectory prediction for fast-moving dynamic objects with low latency and high precision. Firstly, we propose an accurate ego-motion compensation algorithm by considering both rotational and translational motion for more robust object detection. Then, for dynamic object detection, an event camera-based efficient regression algorithm is designed. Finally, we propose an optimization-based approach that asynchronously fuses event and depth cameras for trajectory prediction. Extensive real-world experiments and benchmarks are performed to validate our framework. Moreover, our code will be released to benefit related researches.