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Despite the rapid advances in autonomous guidance and navigation techniques for unmanned aerial vehicle (UAV) systems, there are still many challenges in finding an optimal path planning algorithm that allows outlining a collision-free navigation route from the vehicle’s current position to a goal point. The challenges grow as the number of UAVs involved in the mission increases. Therefore, this work provides a comprehensive systematic review of the literature on the path planning algorithms for multi-UAV systems. In particular, the review focuses on biologically inspired (bio-inspired) algorithms due to their potential in overcoming the challenges associated with multi-UAV path planning problems. It presents a taxonomy for classifying existing algorithms and describes their evolution in the literature. The work offers a structured and accessible presentation of bio-inspired path planning algorithms for researchers in this subject, especially as no previous review exists with a similar scope. This classification is significant as it facilitates studying bio-inspired multi-UAV path planning algorithms under one framework, shows the main design features of the algorithms clearly to assist in a detailed comparison between them, understanding current research trends, and anticipating future directions. Our review showed that bio-inspired algorithms have a high potential to approach the multi-UAV path planning problem and identified challenges and future research directions that could help improve this dynamic research area.

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.

Internet of Things (IoT) environments produce large amounts of data that are challenging to analyze. The most challenging aspect is reducing the quantity of consumed resources and time required to retrain a machine learning model as new data records arrive. Therefore, for big data analytics in IoT environments where datasets are highly dynamic, evolving over time, it is highly advised to adopt an online (also called incremental) machine learning model that can analyze incoming data instantaneously, rather than an offline model (also called static), that should be retrained on the entire dataset as new records arrive. The main contribution of this paper is to introduce the Incremental Ant-Miner (IAM), a machine learning algorithm for online prediction based on one of the most well-established machine learning algorithms, Ant-Miner. IAM classifier tackles the challenge of reducing the time and space overheads associated with the classic offline classifiers, when used for online prediction. IAM can be exploited in managing dynamic environments to ensure timely and space-efficient prediction, achieving high accuracy, precision, recall, and F-measure scores. To show its effectiveness, the proposed IAM was run on six different datasets from different domains, namely horse colic, credit cards, flags, ionosphere, and two breast cancer datasets. The performance of the proposed model was compared to ten state-of-the-art classifiers: naive Bayes, logistic regression, multilayer perceptron, support vector machine, K*, adaptive boosting (AdaBoost), bagging, Projective Adaptive Resonance Theory (PART), decision tree (C4.5), and random forest. The experimental results illustrate the superiority of IAM as it outperformed all the benchmarks in nearly all performance measures. Additionally, IAM only needs to be rerun on the new data increment rather than the entire big dataset on the arrival of new data records, which makes IAM better in time- and resource-saving. These results demon

Pilgrimage is one of the largest mass gatherings, where millions of Muslims gather annually from all over the world to perform Hajj. The stoning ritual during Hajj has been historically vulnerable to serious disasters that often cause severe impacts ranging from injuries to death tolls. In efforts to minimize the number and extent of the disasters, the stoning area has been expanded recently. However, no research has been carried out to study the evacuation effectiveness of the current exit placements in the area, which lies at the heart of effective minimization of the number and extent of the disasters. Therefore, this paper presents an in-depth study on emergency evacuation planning for the extended stoning area. It presents a simulation model of the expanded stoning area with the current exit placement. In addition, we suggested and examined four different exit placements considering evacuation scenarios in case of no hazard as well as two realistic hazard scenarios covering fire and bomb hazards. The simulation studied three stoning phases, beginning of stoning, during the peak hour of stoning, and ending of stoning at three scales of population sizes. The performance was measured in the light of evacuation time, percentage of evacuees, and percentage of crowd at each exit. The experimental results revealed that the current exits are not optimally positioned, and evacuation can be significantly improved through introducing a few more exits, or even through changing positions of the current ones.