An Efficient Ground-aerial Transportation System for Pest Control Enabled by AI-based Autonomous Nano-UAVs

Efficient crop production requires early detection of pest outbreaks and timely treatments; we consider a solution based on a fleet of multiple autonomous miniaturized unmanned aerial vehicles (nano-UAVs) to visually detect pests and a single slower heavy vehicle that visits the detected outbreaks to deliver treatments. To cope with the extreme limitations aboard nano-UAVs, e.g., low-resolution sensors and sub-100 mW computational power budget, we design, fine-tune, and optimize a tiny image-based convolutional neural network (CNN) for pest detection. Despite the small size of our CNN (i.e., 0.58 GOps/inference), on our dataset, it scores a mean average precision (mAP) of 0.79 in detecting harmful bugs, i.e., 14% lower mAP but 32x fewer operations than the best-performing CNN in the literature. Our CNN runs in real-time at 6.8 frame/s, requiring 33 mW on a GWT GAP9 System-on-Chip aboard a Crazyflie nano-UAV. Then, to cope with in-field unexpected obstacles, we leverage a global+local path planner based on the A* algorithm. The global path planner determines the best route for the nano-UAV to sweep the entire area, while the local one runs up to 50 Hz aboard our nano-UAV and prevents collision by adjusting the short-distance path. Finally, we demonstrate with in-simulator experiments that once a 25 nano-UAVs fleet has combed a 200x200 m vineyard, collected information can be used to plan the best path for the tractor, visiting all and only required hotspots. In this scenario, our efficient transportation system, compared to a traditional single-ground vehicle performing both inspection and treatment, can save up to 20 h working time.

Relational Inductive Biases for Object-Centric Image Generation

Conditioning image generation on specific features of the desired output is a key ingredient of modern generative models. Most existing approaches focus on conditioning the generation based on free-form text, while some niche studies use scene graphs to describe the content of the image to be generated. This paper explores novel methods to condition image generation that are based on object-centric relational representations. In particular, we propose a methodology to condition the generation of a particular object in an image on the attributed graph representing its structure and associated style. We show that such architectural biases entail properties that facilitate the manipulation and conditioning of the generative process and allow for regularizing the training procedure. The proposed framework is implemented by means of a neural network architecture combining convolutional operators that operate on both the underlying graph and the 2D grid that becomes the output image. The resulting model learns to generate multi-channel masks of the object that can be used as a soft inductive bias in the downstream generative task. Empirical results show that the proposed approach compares favorably against relevant baselines on image generation conditioned on human poses.

Time series kernel similarities for predicting Paroxysmal Atrial Fibrillation from ECGs

We tackle the problem of classifying Electrocardiography (ECG) signals with the aim of predicting the onset of Paroxysmal Atrial Fibrillation (PAF). Atrial fibrillation is the most common type of arrhythmia, but in many cases PAF episodes are asymptomatic. Therefore, in order to help diagnosing PAF, it is important to design procedures for detecting and, more importantly, predicting PAF episodes. We propose a method for predicting PAF events whose first step consists of a feature extraction procedure that represents each ECG as a multi-variate time series. Successively, we design a classification framework based on kernel similarities for multi-variate time series, capable of handling missing data. We consider different approaches to perform classification in the original space of the multi-variate time series and in an embedding space, defined by the kernel similarity measure. We achieve a classification accuracy comparable with state of the art methods, with the additional advantage of detecting the PAF onset up to 15 minutes in advance.