Joint Trajectory Planning and Task Offloading in UAV-Assisted Inspection Networks: A Transformer-Based Approach
Bibliographic record
Abstract
Uncrewed aerial vehicle (UAV) has emerged as a promising solution for automating railway inspections due to its high mobility, flexible deployment, and reduced labor cost. In this paper, we investigate UAV-assisted railway inspections, which include object recognition, humidity monitoring, and critical infrastructure modeling, each with distinct data volumes and computational requirements. Particularly, we introduce a UAV-assisted railway inspection framework. Different types of sensors are divided into several clusters. The UAV departs from the hive, flies over each cluster to collect their computational requirements, and performs task offloading before returning to the hive. This process is formulated as a joint optimization problem of trajectory planning and task offloading to minimize the weighted sum of latency and energy consumption. Considering the constrained computing and storage capabilities of UAVs, it is crucial but challenging to develop a lightweight yet high-performing solution for the multi-objective optimization problems. As such, a novel <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</u>rtificial General Intelligence (AGI)-<underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">o</u>riented <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">T</u>ransformer (AoT) algorithm is proposed to solve the optimization problem. It uses an encoder-only architecture to process either sensor location or task features, and then directs the encoded outputs to different output heads to make decisions on UAV trajectory and task offloading. Simulation results demonstrate that the proposed AoT algorithm outperforms benchmark algorithms in terms of trajectory length and average offloading cost.
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How this classification was reachedexpand
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) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.002 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".