Autonomous Multi-UAV Path Planning in Pipe Inspection Missions Based on Booby Behavior
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a novel path planning heuristic for multi-UAV pipe inspection missions inspired by the booby bird’s foraging behavior. The heuristic enables each UAV to find an optimal path that minimizes the detection time of defects in pipe networks while avoiding collisions with obstacles and other UAVs. The proposed method is compared with four existing path planning algorithms adapted for multi-UAV scenarios: ant colony optimization (ACO), particle swarm optimization (PSO), opportunistic coordination, and random schemes. The results show that the booby heuristic outperforms the other algorithms in terms of mean detection time and computational efficiency under different settings of defect complexity and number of UAVs.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it