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Efficient data collection and sharing play a crucial role in power infrastructure construction. However, in an outdoor remote area, the data collection efficiency is reduced because of the sparse distribution of base stations (BSs). Unmanned aerial vehicles (UAVs) can perform as flying BSs for mobility and line-of-sight transmission features. In this paper, we propose a multiple temporary UAV-assisted data collection system in the power infrastructure scenario, where multiple temporary UAVs are employed to perform as relay or edge computing nodes. To improve the system performance, the task processing model selection, communication resource allocation, UAV selection, and task migration are jointly optimized. We designed a QMIX-based multi-agent deep reinforcement learning algorithm to find the final optimal solutions. The simulation results show that the proposed algorithm has better convergence and lower system costs than the current existing algorithms.

Pests have caused significant losses to agriculture, greatly increasing the detection of pests in the planting process and the cost of pest management in the early stages. At this time, advances in computer vision and deep learning for the detection of pests appearing in the crop open the door to the application of target detection algorithms that can greatly improve the efficiency of tomato pest detection and play an important technical role in the realization of the intelligent planting of tomatoes. However, in the natural environment, tomato leaf pests are small in size, large in similarity, and large in environmental variability, and this type of situation can lead to greater detection difficulty. Aiming at the above problems, a network target detection model based on deep learning, YOLONDD, is proposed in this paper. Designing a new loss function, NMIoU (Normalized Wasserstein Distance with Mean Pairwise Distance Intersection over Union), which improves the ability of anomaly processing, improves the model’s ability to detect and identify objects of different scales, and improves the robustness to scale changes; Adding a Dynamic head (DyHead) with an attention mechanism will improve the detection ability of targets at different scales, reduce the number of computations and parameters, improve the accuracy of target detection, enhance the overall performance of the model, and accelerate the training process. Adding decoupled head to Head can effectively reduce the number of parameters and computational complexity and enhance the model’s generalization ability and robustness. The experimental results show that the average accuracy of YOLONDD can reach 90.1%, which is 3.33% higher than the original YOLOv5 algorithm and is better than SSD, Faster R-CNN, YOLOv7, YOLOv8, RetinaNet, and other target detection networks, and it can be more efficiently and accurately utilized in tomato leaf pest detection.

High-definition mapping of 3D lane lines has been widely needed for the highway documentation and intelligent navigation of autonomous systems. A mobile mapping system (MMS) captures both accurate 3D LiDAR point clouds and high-resolution images of lane markings at highway driving speeds, providing an abundant data source for combined lane mapping. This paper aims to map lanes with an MMS. The main contributions of this paper include the following: (1) an intensity correction method was introduced to eliminate the reflectivity inconsistency of road-surface LiDAR points; (2) a self-adaptive thresholding method was developed to extract lane markings from their complicated surroundings; and (3) a LiDAR-guided textural saliency analysis of MMS images was proposed to improve the robustness of lane mapping. The proposed method was tested with a dataset acquired in Wuhan, Hubei, China, which contained straight roads, curved roads, and a roundabout with various pavement markings and a complex roadside environment. The experimental results achieved a recall of 96.4%, a precision of 97.6%, and an F-score of 97.0%, demonstrating that the proposed method has strong mapping ability for various urban roads.