We propose PUNO, a novel deep operator-based framework for point cloud upsampling, addressing the challenge of reconstructing high-resolution geometries from sparse point clouds. PUNO generalizes the neural operators proven effective in image super-resolution to 3D point cloud upsampling. Moreover, it first designs a network for point cloud tasks to achieve vertex displacement and manifold parameterization, thereby forming a coarse geometric representation that is compatible with super-resolution neural operators. This is followed by iterative kernel integral approximations in the function space and backprojection to generate the target coordinates, fully utilizing the high-frequency information in the function space. Unlike prior work, PUNO performs transformations in both the data domain and the function domain, with the solution space containing richer basis functions, yielding finer results that mitigate the ill-posed nature of sparse data. It also benefits global continuity. Extensive experiments demonstrate its superior accuracy, robustness, and generalization ability.

Urban particulate pollution presents considerable public health hazards, underscoring the need for effective control measures in various cities. This paper proposes SmartSpr, a physics-informed urban mobile sprinkler scheduling system designed for enhanced efficiency in reducing particulate pollution. SmartSpr incorporates a Physics-Informed Neural Network (PINN)-based model, enriched with Bayesian optimization, to accurately simulate the impact of mobile sprinklers on particulate matter (PM) dispersion. Building on this sprinkling effect model, a selective sprinkling strategy considering the replenish process is proposed. This strategy employs a sparsity-driven decoupling simulated annealing algorithm to refine sprinkler routes, prioritizing areas with substantial environmental benefits. Extensive field experiments and simulations have validated SmartSpr, demonstrating a 64.8% reduction in prediction error of SmartSpr's sprinkling model compared to the leading baseline and an 18% enhancement in pollutant reduction efficiency of the proposed scheduling algorithm.

Urban particulate pollution presents considerable public health hazards, underscoring the need for effective control measures in various cities. A prevalent approach involves employing mobile sprinkling trucks. This paper proposes a Sprinkler-UAV Cooperative Active Scheduling System for enhanced efficiency in reducing particulate pollution. The system employs ground-based sprinkler trucks and airborne air pollution detection drones to actively explore and reduce PM2.5 in environments with dynamic and unknown pollution distributions. Preliminary experiments have demonstrated the effectiveness of using sprinklers for urban particulate matter control.

Abstract We introduce LGSur‐Net, an end‐to‐end deep learning architecture, engineered for the upsampling of sparse point clouds. LGSur‐Net harnesses a trainable Gaussian local representation by positioning a series of Gaussian functions on an oriented plane, complemented by the optimization of individual covariance matrices. The integration of parametric factors allows for the encoding of the plane's rotational dynamics and Gaussian weightings into a linear transformation matrix. Then we extract the feature maps from the point cloud and its adjoining edges and learn the local Gaussian depictions to accurately model the shape's local geometry through an attention‐based network. The Gaussian representation's inherent high‐order continuity endows LGSur‐Net with the natural ability to predict surface normals and support upsampling to any specified resolution. Comprehensive experiments validate that LGSur‐Net efficiently learns from sparse data inputs, surpassing the performance of existing state‐of‐the‐art upsampling methods. Our code is publicly available at https://github.com/Rangiant5b72/LGSur-Net .

Multi-UAV systems have shown immense potential in handling complex tasks in large-scale, dynamic, and cold-start (i.e., limited prior knowledge) scenarios, such as wildfire suppression. Due to the dynamic and stochastic environmental conditions, the scheduling for sensing tasks (i.e., fire monitoring) and operation tasks (i.e., fire suppression) should be executed concurrently to enable real-time information collection and timely intervention of the environment. However, the planning inclinations of sensing and operation tasks are typically inconsistent and evolve over time, complicating the task of identifying the optimal strategy for each UAV. To solve this problem, this paper proposes SOScheduler, a collaborative multi-UAV scheduling framework for integrated sensing and operation in large-scale and dynamic wildfire environments. We introduce a spatio-temporal confidence-aware assessment model to dynamically and directly pinpoint locations that can optimally enhance the understanding of environmental dynamics and operational effectiveness, as well as a priority graph-instructed scalable scheduler to coordinate multi-UAV in an efficient manner. Experiments on real multi-UAV testbeds and large-scale physical feature-based simulations show that our SOScheduler reduces the fire expansion ratio by 59% and enhances the fire coverage ratio by 190% compared to state-of-the-art (SOTA) solutions.