Autonomous sortie scheduling for carrier aircraft fleet under towing mode

Safe and efficient sortie scheduling on the confined flight deck is crucial for maintaining high combat effectiveness of the aircraft carrier.The primary difficulty exactly lies in the spatiotemporal coordination,i.e.,allocation of limited supporting resources and collision-avoidance between heterogeneous dispatch entities.In this paper,the problem is investigated in the perspective of hybrid flow-shop scheduling problem by synthesizing the precedence,space and resource constraints.Specifically,eight processing procedures are abstracted,where tractors,preparing spots,catapults,and launching are virtualized as machines.By analyzing the constraints in sortie scheduling,a mixed-integer planning model is constructed.In particular,the constraint on preparing spot occupancy is improved to further enhance the sortie efficiency.The basic trajectory library for each dispatch entity is generated and a delayed strategy is integrated to address the collision-avoidance issue.To efficiently solve the formulated HFSP,which is essentially a combinatorial problem with tightly coupled constraints,a chaos-initialized genetic algorithm is developed.The solution framework is validated by the simulation environment referring to the Fort-class carrier,exhibiting higher sortie efficiency when compared to existing strategies.And animation of the simulation results is available at www.bilibili.com/video/BV14t421A7Tt/.The study presents a promising supporting technique for autonomous flight deck operation in the foreseeable future,and can be easily extended to other supporting scenarios,e.g.,ammunition delivery and aircraft maintenance.

Continuum of glucose and bone metabolism impairment across autonomous cortisol secretion: A cross-sectional study

BACKGROUND Autonomous cortisol secretion(ACS)is linked to a higher prevalence of metabolic abnormalities and an increased risk of major adverse cardiovascular events.AIM To evaluate glucose and bone metabolism in patients with ACS using a continuous glucose monitoring system(CGMS)and dual-energy X-ray absorptiometry(DXA).METHODS Patients diagnosed with ACS,including Cushing syndrome,mild ACS(MACS),and nonfunctional adrenal incidentaloma(NFAI),were recruited for this study.Glucose variability and glycemic status were assessed using CGMS.Regional bone mineral content(BMC),bone mineral density(BMD),and bone area(BA)were evaluated using DXA.CGMS-and DXA-derived parameters were compared across the subgroups of ACS.Correlation analysis was performed to examine relationships between varying degrees of cortisol secretion,measured by cortisol after 1 mg overnight dexamethasone suppression test(DST)or 24-hour urine free cortisol(24h UFC),and CGMS-or DXA-derived parameters.RESULTS A total of 64 patients with ACS were included in this study:19 with Cushing syndrome,11 with MACS,and 34 with NFAI.Glucose variability,time above range(TAR),and time in range(TIR)along with specific areal BMC,BMD,and BA,differed significantly between groups of Cushing syndrome and NFAI.A significant positive correlation was observed between glucose variability or TAR and cortisol after 1 mg overnight DST or 24h UFC.By contrast,TIR,along with regional BMC,BMD,and BA,were negatively correlated with varying degrees of cortisol secretion.CONCLUSION Glucose and bone metabolism impairments are on a continuum alteration from NFAI to MACS and Cushing syndrome.Prompt attention should be given to these patients with ACS,especially those with mild hormone secretion.Parameters of glucose variability and glycemic status along with bone condition in regions rich in cancellous bone will provide valuable information.

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

A Survey on an Emerging Safety Challenge for Autonomous Vehicles:Safety of the Intended Functionality

As the complexity of autonomous vehicles(AVs)continues to increase and artificial intelligence algorithms are becoming increasingly ubiquitous,a novel safety concern known as the safety of the intended functionality(SOTIF)has emerged,presenting significant challenges to the widespread deployment of AVs.SOTIF focuses on issues arising from the functional insufficiencies of the AVs’intended functionality or its implementation,apart from conventional safety considerations.From the systems engineering standpoint,this study offers a comprehensive exploration of the SOTIF landscape by reviewing academic research,practical activities,challenges,and perspectives across the development,verification,validation,and operation phases.Academic research encompasses system-level SOTIF studies and algorithm-related SOTIF issues and solutions.Moreover,it encapsulates practical SOTIF activities undertaken by corporations,government entities,and academic institutions spanning international and Chinese contexts,focusing on the overarching methodologies and practices in different phases.Finally,the paper presents future challenges and outlook pertaining to the development,verification,validation,and operation phases,motivating stakeholders to address the remaining obstacles and challenges.

Attention Markets of Blockchain-Based Decentralized Autonomous Organizations

The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the negative effects of pro-posers’attention-capturing strategies that contribute to the“tragedy of the commons”and ensure an efficient distribution of attention among multiple proposals,it is necessary to establish a market-driven allocation scheme for DAOs’attention.First,the Harberger tax-based attention markets are designed to facilitate its allocation via continuous and automated trading,where the individualized Harberger tax rate(HTR)determined by the pro-posers’reputation is adopted.Then,the Stackelberg game model is formulated in these markets,casting attention to owners in the role of leaders and other competitive proposers as followers.Its equilibrium trading strategies are also discussed to unravel the intricate dynamics of attention pricing.Moreover,utilizing the single-round Stackelberg game as an illustrative example,the existence of Nash equilibrium trading strategies is demonstrated.Finally,the impact of individualized HTR on trading strategies is investigated,and results suggest that it has a negative correlation with leaders’self-accessed prices and ownership duration,but its effect on their revenues varies under different conditions.This study is expected to provide valuable insights into leveraging attention resources to improve DAOs’governance and decision-making process.

Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.

Multifaceted superoxide dismutase 1 expression in amyotrophic lateral sclerosis patients:a rare occurrence?

Amyotrophic lateral sclerosis(ALS)is a neuromuscular condition resulting from the progressive degeneration of motor neurons in the cortex,brainstem,and spinal cord.While the typical clinical phenotype of ALS involves both upper and lower motor neurons,human and animal studies over the years have highlighted the potential spread to other motor and non-motor regions,expanding the phenotype of ALS.Although superoxide dismutase 1(SOD1)mutations represent a minority of ALS cases,the SOD1 gene remains a milestone in ALS research as it represents the first genetic target for personalized therapies.Despite numerous single case reports or case series exhibiting extramotor symptoms in patients with ALS mutations in SOD1(SOD1-ALS),no studies have comprehensively explored the full spectrum of extramotor neurological manifestations in this subpopulation.In this narrative review,we analyze and discuss the available literature on extrapyramidal and non-motor features during SOD1-ALS.The multifaceted expression of SOD1 could deepen our understanding of the pathogenic mechanisms,pointing towards a multidisciplinary approach for affected patients in light of new therapeutic strategies for SOD1-ALS.

Dynamic Routing of Multiple QoS-Required Flows in Cloud-Edge Autonomous Multi-Domain Data Center Networks

The 6th generation mobile networks(6G)network is a kind of multi-network interconnection and multi-scenario coexistence network,where multiple network domains break the original fixed boundaries to form connections and convergence.In this paper,with the optimization objective of maximizing network utility while ensuring flows performance-centric weighted fairness,this paper designs a reinforcement learning-based cloud-edge autonomous multi-domain data center network architecture that achieves single-domain autonomy and multi-domain collaboration.Due to the conflict between the utility of different flows,the bandwidth fairness allocation problem for various types of flows is formulated by considering different defined reward functions.Regarding the tradeoff between fairness and utility,this paper deals with the corresponding reward functions for the cases where the flows undergo abrupt changes and smooth changes in the flows.In addition,to accommodate the Quality of Service(QoS)requirements for multiple types of flows,this paper proposes a multi-domain autonomous routing algorithm called LSTM+MADDPG.Introducing a Long Short-Term Memory(LSTM)layer in the actor and critic networks,more information about temporal continuity is added,further enhancing the adaptive ability changes in the dynamic network environment.The LSTM+MADDPG algorithm is compared with the latest reinforcement learning algorithm by conducting experiments on real network topology and traffic traces,and the experimental results show that LSTM+MADDPG improves the delay convergence speed by 14.6%and delays the start moment of packet loss by 18.2%compared with other algorithms.

Toward Trustworthy Decision-Making for Autonomous Vehicles:A Robust Reinforcement Learning Approach with Safety Guarantees

While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles.The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety.Specifically,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics.In addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics.Moreover,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model.Finally,the proposed approach is evaluated through both simulations and experiments.These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.

General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

RRT Autonomous Detection Algorithm Based on Multiple Pilot Point Bias Strategy and Karto SLAM Algorithm

A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.

Anti-rollover Artificial Potential Field Motion Planning Method of an Autonomous Heavy Truck Optimised by Game Theory

Anti-rollover is a critical factor to consider when planning the motion of autonomous heavy trucks.This paper proposed a method for autonomous heavy trucks to generate a path that avoids collisions and minimizes rollover risk.The corresponding rollover index is deduced from a 5-DOF heavy truck dynamic model that includes longitudinal motion,lateral motion,yaw motion,sprung mass roll motion,unsprung mass roll motion,and an anti-rollover artificial potential field(APF)is proposed based on this.The motion planning method,which is based on model predictive control(MPC),combines trajectory tracking,anti-rollover APF,and the improved obstacle avoidance APF and considers the truck dynamics constraints,obstacle avoidance,and anti-rollover.Furthermore,by using game theory,the coefficients of the two APF functions are optimised,and an optimal path is planned.The effectiveness of the optimised motion planning method is demonstrated in a variety of scenarios.The results demonstrate that the optimised motion planning method can effectively and efficiently avoid collisions and prevent rollover.

Evaluation of an Autonomous Vehicle User Interface for Sensory Impaired Users

Autonomous vehicles (AVs) hold immense promises in revolutionizing transportation, and their potential benefits extend to individuals with impairments, particularly those with vision and hearing impairments. However, the accommodation of these individuals in AVs requires developing advanced user interfaces. This paper describes an explorative study of a multimodal user interface for autonomous vehicles, specifically developed for passengers with sensory (vision and/or hearing) impairments. In a driving simulator, 32 volunteers with simulated sensory impairments, were exposed to multiple drives in an autonomous vehicle while freely interacting with standard and inclusive variants of the infotainment and navigation system interface. The two user interfaces differed in graphical layout and voice messages, which adopted inclusive design principles for the inclusive variant. Questionnaires and structured interviews were conducted to collect participants’ impressions. The data analysis reports positive user experiences, but also identifies technical challenges. Verified guidelines are provided for further development of inclusive user interface solutions.

Perception Enhanced Deep Deterministic Policy Gradient for Autonomous Driving in Complex Scenarios

Autonomous driving has witnessed rapid advancement;however,ensuring safe and efficient driving in intricate scenarios remains a critical challenge.In particular,traffic roundabouts bring a set of challenges to autonomous driving due to the unpredictable entry and exit of vehicles,susceptibility to traffic flow bottlenecks,and imperfect data in perceiving environmental information,rendering them a vital issue in the practical application of autonomous driving.To address the traffic challenges,this work focused on complex roundabouts with multi-lane and proposed a Perception EnhancedDeepDeterministic Policy Gradient(PE-DDPG)for AutonomousDriving in the Roundabouts.Specifically,themodel incorporates an enhanced variational autoencoder featuring an integrated spatial attention mechanism alongside the Deep Deterministic Policy Gradient framework,enhancing the vehicle’s capability to comprehend complex roundabout environments and make decisions.Furthermore,the PE-DDPG model combines a dynamic path optimization strategy for roundabout scenarios,effectively mitigating traffic bottlenecks and augmenting throughput efficiency.Extensive experiments were conducted with the collaborative simulation platform of CARLA and SUMO,and the experimental results show that the proposed PE-DDPG outperforms the baseline methods in terms of the convergence capacity of the training process,the smoothness of driving and the traffic efficiency with diverse traffic flow patterns and penetration rates of autonomous vehicles(AVs).Generally,the proposed PE-DDPGmodel could be employed for autonomous driving in complex scenarios with imperfect data.

Robust Platoon Control of Mixed Autonomous and Human-Driven Vehicles for Obstacle Collision Avoidance:A Cooperative Sensing-Based Adaptive Model Predictive Control Approach

Obstacle detection and platoon control for mixed traffic flows,comprising human-driven vehicles(HDVs)and connected and autonomous vehicles(CAVs),face challenges from uncertain disturbances,such as sensor faults,inaccurate driver operations,and mismatched model errors.Furthermore,misleading sensing information or malicious attacks in vehicular wireless networks can jeopardize CAVs’perception and platoon safety.In this paper,we develop a two-dimensional robust control method for a mixed platoon,including a single leading CAV and multiple following HDVs that incorpo-rate robust information sensing and platoon control.To effectively detect and locate unknown obstacles ahead of the leading CAV,we propose a cooperative vehicle-infrastructure sensing scheme and integrate it with an adaptive model predictive control scheme for the leading CAV.This sensing scheme fuses information from multiple nodes while suppressing malicious data from attackers to enhance robustness and attack resilience in a distributed and adaptive manner.Additionally,we propose a distributed car-following control scheme with robustness to guarantee the following HDVs,considering uncertain disturbances.We also provide theoretical proof of the string stability under this control framework.Finally,extensive simulations are conducted to validate our approach.The simulation results demonstrate that our method can effectively filter out misleading sensing information from malicious attackers,significantly reduce the mean-square deviation in obstacle sensing,and approach the theoretical error lower bound.Moreover,the proposed control method successfully achieves obstacle avoidance for the mixed platoon while ensuring stability and robustness in the face of external attacks and uncertain disturbances.

Probabilistic Global Maximum Power Point Tracking Algorithm for Continuously Varying Partial Shading Conditions on Autonomous PV Systems

A photovoltaic (PV) string with multiple modules with bypass diodes frequently deployed on a variety of autonomous PV systems may present multiple power peaks under uneven shading. For optimal solar harvesting, there is a need for a control schema to force the PV string to operate at global maximum power point (GMPP). While a lot of tracking methods have been proposed in the literature, they are usually complex and do not fully take advantage of the available characteristics of the PV array. This work highlights how the voltage at operating point and the forward voltage of the bypass diode are considered to design a global maximum power point tracking (GMPPT) algorithm with a very limited global search phase called Fast GMPPT. This algorithm successfully tracks GMPP between 94% and 98% of the time under a theoretical evaluation. It is then compared against Perturb and Observe, Deterministic Particle Swarm Optimization, and Grey Wolf Optimization under a sequence of irradiance steps as well as a power-over-voltage characteristics profile that mimics the electrical characteristics of a PV string under varying partial shading conditions. Overall, the simulation with the sequence of irradiance steps shows that while Fast GMPPT does not have the best convergence time, it has an excellent convergence rate as well as causes the least amount of power loss during the global search phase. Experimental test under varying partial shading conditions shows that while the GMPPT proposal is simple and lightweight, it is very performant under a wide range of dynamically varying partial shading conditions and boasts the best energy efficiency (94.74%) out of the 4 tested algorithms.

Enhancing Autonomy Capability in Regional Power Grids:A Strategic Planning Approach with Multiple Autonomous Evaluation Indexes

After the integration of large-scale DistributedGeneration(DG)into the distribution network,the randomness and volatility of its output result in a reduction of spatiotemporal alignment between power generation and demand in the distribution network,exacerbating the phenomenon of wind and solar power wastage.As a novel power system model,the fundamental concept of Regional Autonomous Power Grids(RAPGs)is to achieve localized management and energy autonomy,thereby facilitating the effective consumption of DGs.Therefore,this paper proposes a distributed resource planning strategy that enhances the autonomy capabilities of regional power grids by considering multiple evaluation indexes for autonomy.First,a regional Energy Storage(ES)configuration strategy is proposed.This strategy can select a suitable reference value for the upper limit of ES configuration based on the regional load andDGoutput to maximize the elimination of source load deviations in the region as the upper limit constraint of ES capacity.Then,a control strategy for regional ES is proposed,the charging and discharging reference line of ES is set,and multiple autonomy and economic indexes are used as objective functions to select different proportions of ES to control the distributed resources of the regional power grid and establish evaluation indexes of the internal regional generation and load power ratio,the proportion of power supply matching hours,new energy consumption rate and tie line power imbalance outside the region to evaluate changes in the regional autonomy capabilities.The final simulation results showthat in the real regional grid example,the planning method in the planning year in the region of the overall power supply matching hour ratio and new energy consumption rate increased by 3.9%and 4.8%on average,and the power imbalance of the tie line decreased by 7.8%on average.The proposed planning approach enables the maximization of regional autonomy while effectively smoothing the fluctuation of power exchange between the regional grid and the higher-level grid.This presents a rational and effective planning solution for the regional grid,facilitating the coordinated development between the region and the distribution network.

Enhancing Safety in Autonomous Vehicle Navigation:An Optimized Path Planning Approach Leveraging Model Predictive Control

This paper explores the application of Model Predictive Control(MPC)to enhance safety and efficiency in autonomous vehicle(AV)navigation through optimized path planning.The evolution of AV technology has progressed rapidly,moving from basic driver-assistance systems(Level 1)to fully autonomous capabilities(Level 5).Central to this advancement are two key functionalities:Lane-Change Maneuvers(LCM)and Adaptive Cruise Control(ACC).In this study,a detailed simulation environment is created to replicate the road network between Nantun andWuri on National Freeway No.1 in Taiwan.The MPC controller is deployed to optimize vehicle trajectories,ensuring safe and efficient navigation.Simulated onboard sensors,including vehicle cameras and millimeterwave radar,are used to detect and respond to dynamic changes in the surrounding environment,enabling real-time decision-making for LCM and ACC.The simulation resultshighlight the superiority of the MPC-based approach in maintaining safe distances,executing controlled lane changes,and optimizing fuel efficiency.Specifically,the MPC controller effectively manages collision avoidance,reduces travel time,and contributes to smoother traffic flow compared to traditional path planning methods.These findings underscore the potential of MPC to enhance the reliability and safety of autonomous driving in complex traffic scenarios.Future research will focus on validating these results through real-world testing,addressing computational challenges for real-time implementation,and exploring the adaptability of MPC under various environmental conditions.This study provides a significant step towards achieving safer and more efficient autonomous vehicle navigation,paving the way for broader adoption of MPC in AV systems.

A Real-Time Near Optimal Trajectory Planning and Control Scheme for Autonomous Wheelchair Evacuation Tasks

Motion planning and control of autonomous mobile robots(AMRs)have attracted widespread attention in recent years.As the problem of aging intensifies,it is significant to develop AMRs for the wellbeing of old people.In this paper,a novel long short-term memory(LSTM)-recurrent deep neural network(RDNN)based motion planning and control strategy with data aggregation mechanism is developed for autonomous wheelchairs(AWC)to send the seniors to the exit of the nursing home in a timely manner when emergencies happen.The proposed scheme is verified to be feasible,efficient and robust.

Efficient Vision Transformers for Autonomous Off-Road Perception Systems

The development of autonomous vehicles has become one of the greatest research endeavors in recent years. These vehicles rely on many complex systems working in tandem to make decisions. For practical use and safety reasons, these systems must not only be accurate, but also quickly detect changes in the surrounding environment. In autonomous vehicle research, the environment perception system is one of the key components of development. Environment perception systems allow the vehicle to understand its surroundings. This is done by using cameras, light detection and ranging (LiDAR), with other sensor systems and modalities. Deep learning computer vision algorithms have been shown to be the strongest tool for translating camera data into accurate and safe traversability decisions regarding the environment surrounding a vehicle. In order for a vehicle to safely traverse an area in real time, these computer vision algorithms must be accurate and have low latency. While much research has studied autonomous driving for traversing well-structured urban environments, limited research exists evaluating perception system improvements in off-road settings. This research aims to investigate the adaptability of several existing deep-learning architectures for semantic segmentation in off-road environments. Previous studies of two Convolutional Neural Network (CNN) architectures are included for comparison with new evaluation of Vision Transformer (ViT) architectures for semantic segmentation. Our results demonstrate viability of ViT architectures for off-road perception systems, having a strong segmentation accuracy, lower inference speed and memory footprint compared to previous results with CNN architectures.