This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part of the team CTU-CRAS-NORLAB. In contrast to the winning solution that was developed specifically for the Virtual Track, the proposed solution also proved to be a robust system for deployment onboard physical UAVs flying in the extremely harsh and confined environment of the real-world competition. The proposed approach enables fully autonomous and decentralized deployment of a UAV team with seamless simulation-toworld transfer, and proves its advantage over less mobile UGV teams in the flyable space of diverse environments. The main contributions of the paper are present in the mapping and navigation pipelines. The mapping approach employs novel map representations—SphereMap for efficient risk-aware long-distance planning, FacetMap for surface coverage, and the compressed topologicalvolumetric LTVMap for allowing multirobot cooperation under low-bandwidth communication. These representations are used in navigation together with novel methods for visibility-constrained informed search in a general 3D environment with no assumptions about the environment structure, while balancing deep exploration with sensor-coverage exploitation. The proposed solution also includes a visual-perception pipeline for on-board detection and localization of objects of interest in four RGB stream at 5 Hz each without a dedicated GPU. Apart from participation in the DARPA SubT, the performance of the UAV system is supported by extensive experimental verification in diverse environments with both qualitative and quantitative evaluation.

A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this letter. Most state-of-the-art planning methods find the shortest paths while keeping the UAV at a pre-defined distance from obstacles. Planning over the proposed structure reaches this pre-defined distance only when necessary, maintaining a safer distance otherwise, while also being orders of magnitude faster than other stateof-the-art methods. Furthermore, we demonstrate how this graph representation can be converted into a lightweight shareable topological-volumetric map of the environment, which enables decentralized multi-robot cooperation. The proposed approach was successfully validated in several kilometers of real subterranean environments, such as caves, devastated industrial buildings, and in the harsh and complex setting of the final event of the DARPA SubT Challenge, which aims to mimic the conditions of real search and rescue missions as closely as possible, and where our approach achieved the 2 nd place in the virtual track.

<span lang="EN-GB">This paper discusses the methods of optimal IIR filter FPGA implementation. The methods are focused on the reduction of occupied resources and increasing data throughput. Higher demands on an internal controller complexity are successfully solved by utilizing programmable microcode controller. The novelty of SOS core and its capabilities are presented and different variants of SOS core are assessed. The workflow of IIR filter design using MATLAB considering rounded coefficient method is demonstrated.</span>

Nowadays, remote sensing technology is being used as an essential tool for monitoring and detecting oil spills to take precautions and to prevent the damages to the marine environment. As an important branch of remote sensing, satellite based synthetic aperture radar imagery (SAR) is the most effective way to accomplish these tasks. Since a marine surface with oil spill seems as a dark object because of much lower backscattered energy, the main problem is to recognize and differentiate the dark objects of oil spills from others to be formed by oceanographic and atmospheric conditions. In this study, Radarsat-1 images covering Lebanese coasts were employed for oil spill detection. For this purpose, a powerful classifier, Artificial Neural Network Multilayer Perceptron (ANN MLP) was used. As the original contribution of the paper, the network was trained by a novel heuristic optimization algorithm known as Artificial Bee Colony (ABC) method besides the conventional Backpropagation (BP) and Levenberg-Marquardt (LM) learning algorithms. A comparison and evaluation of different network training algorithms regarding reliability of detection and robustness show that for this problem best result is achieved with the Artificial Bee Colony algorithm (ABC).