Real-time detection of small obstacles is a critical challenge for autonomous systems such as self-driving vehicles, unmanned aerial vehicles (UAVs), and mobile robots. These small obstacles (e.g., road debris, fallen branches, cables) pose significant safety risks due to their low visibility and irregular appearances. This paper presents a comprehensive systematic review of 117 technical articles published between 2016 and 2025, focusing on the techniques and deployment strategies for real-time small obstacle detection using fused multidimensional information. We summarize and analyze developments in small obstacle definitions, sensing hardware, detection algorithms, fusion methods, and rea... More >

With the rise of data engineering-driven automatic annotation strategies, deep learning has demonstrated remarkable performance and strong competitiveness in intelligent fault diagnosis. However, the inherent limitations of automatic annotators inevitably introduce noisy labels, which in turn hinder the generalization and accuracy of diagnostic models. Although numerous Learning with Noisy Labels (LNL) methods attempt to alleviate the impact of label noise through sample selection or label correction, most rely heavily on model predictions to guide training. This self-reinforcing mechanism frequently leads to confirmation bias, especially under high-noise conditions, thereby limiting their e... More >

In Dempster-Shafer evidence theory (DST), the determination of basic belief assignment (BBA) is an important yet challenging issue before the evidence fusion. The rational mass determination of compound focal elements is crucial for fully taking advantage of DST, i.e., the ability to represent the ambiguity. In this paper, for the compound focal elements, we select and construct the compound-class samples with ambiguous class membership. Then, we use these samples to construct an end-to-end model called Evidential Radial Basis Function Network (E-RBFN), with the input as the sample and the output as the corresponding BBA. The E-RBFN can directly determine the mass values for all focal elemen... More >

Facing the challenges of low efficiency and poor quality in UAV 3D path planning within large-scale airspace complex environments, this paper introduces a divide-and-conquer approach, proposing a dual-layer path planning method based on multi-source information fusion. The method decomposes traditional path planning into two steps: heading planning and trajectory planning, ensuring both planning efficiency and path quality. This method segregates the solution process into two distinct stages: heading planning and path planning, thereby ensuring the planning of both efficiency and path quality. Firstly, the path planning phase is formulated as a multi-objective optimization problem, taking in... More >