This paper investigates the semantic communication and cooperative tracking control for an UAV swarm comprising a leader UAV and a group of follower UAVs, all interconnected via unreliable wireless multiple-input-multiple-output (MIMO) channels. Initially, we develop a dynamic model for the UAV swarm that accounts for both the internal interactions among the cooperative follower UAVs and the imperfections inherent in the MIMO channels that interlink the leader and follower UAVs. Building on this model, we incorporate the power costs of the UAVs and formulate the communication and cooperative tracking control challenge as a drift-plus-penalty optimization problem. We then derive a closed-form optimal solution that maintains a decentralized semantic architecture, dynamically adjusting to the tracking error costs and local channel conditions within the swarm. Employing Lyapunov drift analysis, we establish closed-form sufficient conditions for the stabilization of the UAV swarm's tracking performance. Numerical results demonstrate the significant enhancements in our proposed scheme over various state-of-the-art methods.
By using wireless connectivity through cellular base stations (BSs), swarms of unmanned aerial vehicles (UAVs) can provide a plethora of services ranging from delivery of goods to surveillance. In particular, UAVs in a swarm can utilize wireless communications to collect information, like velocity and heading angle, from surrounding UAVs for coordinating their operations and maintaining target speed and intra-UAV distance. However, due to the uncertainty of the wireless channel, wireless communications among UAVs will experience a transmission delay which can impair the swarm's ability to stab…
Flying by Inference: Active Inference World Models for Adaptive UAV Swarms
Department of Engineering and Naval Architecture (DITEN), University of Genoa（工程与 naval 架构系（DITEN），热那亚大学）；Intelligent Systems Laboratory, Department of Systems Engineering and Automation, Carlos III University of Madrid（智能系统实验室，系统工程与自动化系，马德里卡洛斯三世大学）
In radar accurate localization of unmanned aerial vehicle (UAV) swarms, the high density, similar motion parameters, small radar cross-section (RCS), strong noise and far range put forward high requirements on radar resolution and transmitting power. In this paper, by using advantages of the long-time integration (LTI) technique and gridless sparse method, we construct a super-resolution framework for radar accurate localization of UAV swarms without changing radar hardware and system parameters. Thereafter, based on this framework, a range super-resolution method is proposed to realize the ra…
Unmanned aerial vehicles provide new opportunities for performance improvements in future wireless communications systems. For example, they can act as relays that extend the range of a communication link and improve the capacity. Unlike conventional relays that are deployed at fixed locations, UAVs can change their positions to optimize the capacity or range on demand. In this paper, we consider using a swarm of UAVs as amplify-and-forward MIMO relays to provide connectivity between an obstructed multi-antenna equipped source and destination. We start by optimizing UAV placement for the singl…
A smart grid is a widely distributed engineering system with overhead transmission lines. Physical damage to these power lines, from natural calamities or technical failures, will disrupt the functional integrity of the grid. To ensure the continuation of the grid's operational flow when those phenomena happen, the grid operator must immediately take steps to nullify the impacts and repair the problems, even if those occur in hardly-reachable remote areas. Emerging unmanned aerial vehicles (UAVs) show great potential to replace traditional human patrols for regularly monitoring critical situat…
Qatar University（卡塔尔大学）；Qualcomm Inc（高通公司）；Hamad Bin Khalifa University（哈马德·本·哈利法大学）
The usage of unmanned aerial vehicles (UAVs) in civil and military applications continues to increase due to the numerous advantages that they provide over conventional approaches. Despite the abundance of such advantages, it is imperative to investigate the performance of UAV utilization while considering their design limitations. This paper investigates the deployment of UAV swarms when each UAV carries a machine learning classification task. To avoid data exchange with ground-based processing nodes, a federated learning approach is adopted between a UAV leader and the swarm members to impro…
A swarm of cooperating UAVs communicating with a distant multiantenna ground station can leverage MIMO spatial multiplexing to scale the capacity. Due to the line-of-sight propagation between the swarm and the ground station, the MIMO channel is highly correlated, leading to limited multiplexing gains. In this paper, we optimize the UAV positions to attain the maximum MIMO capacity given by the single user bound. An infinite set of UAV placements that attains the capacity bound is first derived. Given an initial swarm placement, we formulate the problem of minimizing the distance traveled by t…
In the existing cellular networks, it remains a challenging problem to communicate with and control an unmanned aerial vehicle (UAV) swarm with both high reliability and low latency. Due to the UAV swarm's high working altitude and strong ground-to-air channels, it is generally exposed to multiple ground base stations (GBSs), while the GBSs that are serving ground users (occupied GBSs) can generate strong interference to the UAV swarm. To tackle this issue, we propose a novel two-phase transmission protocol by exploiting cellular plus device-to-device (D2D) communication for the UAV swarm. In …
Reconfigurable intelligent surface (RIS) offers tremendous spectrum and energy efficiency in wireless networks by adjusting the amplitudes and/or phases of passive reflecting elements to optimize signal reflection. With the agility and mobility of unmanned aerial vehicles (UAVs), RIS can be mounted on UAVs to enable three-dimensional signal reflection. Compared to the conventional terrestrial RIS (TRIS), the aerial RIS (ARIS) enjoys higher deployment flexibility, reliable air-to-ground links, and panoramic full-angle reflection. However, due to UAV's limited payload and battery capacity, it is…
Åbo Akademi University（奥布学术大学）；KTH Royal Institute of Technology（瑞典皇家理工学院）
With the growing popularity of Unmanned Aerial Vehicles (UAVs) for consumer applications, the number of accidents involving UAVs is also increasing rapidly. Therefore, motion safety of UAVs has become a prime concern for UAV operators. For a swarm of UAVs, a safe operation can not be guaranteed without preventing the UAVs from colliding with one another and with static and dynamically appearing, moving obstacles in the flying zone. In this paper, we present an online, collision-free path generation and navigation system for swarms of UAVs. The proposed system uses geographical locations of the…
Unlike aerial base station enabled by a single unmanned aerial vehicle (UAV), aerial coordinated multiple points (CoMP) can be enabled by a UAV swarm. In this case, the management of multiple UAVs is important. This paper considers the power allocation strategy for a UAV swarm-enabled aerial network to enhance the physical layer security of the downlink transmission, where an eavesdropper moves following the trajectory of the swarm for better eavesdropping. Unlike existing works, we use only the large-scale channel state information (CSI) and maximize the secrecy throughput in a whole-trajecto…
Unmanned aerial vehicle (UAV) swarm enabled edge computing is envisioned to be promising in the sixth generation wireless communication networks due to their wide application sensories and flexible deployment. However, most of the existing works focus on edge computing enabled by a single or a small scale UAVs, which are very different from UAV swarm-enabled edge computing. In order to facilitate the practical applications of UAV swarm-enabled edge computing, the state of the art research is presented in this article. The potential applications, architectures and implementation considerations …
Unmanned aerial vehicles (UAVs) have attracted significant interest from the academia and industry most recently. Motivated by the wide usage of UAVs, this paper considers UAV communication with reconfigurable antenna (RA) in the presence of fading and shadowing effects which occur due to tall buildings and skyscrapers in urban areas. More precisely, RA offers to receive information through mirror activation patterns (MAPs) so that it can achieve a receive diversity with decreased error probability by using only one radio frequency (RF) chain. Also, media based modulation (MBM) technique for d…
Fifth-generation (5G) cellular networks have led to the implementation of beyond 5G (B5G) networks, which are capable of incorporating autonomous services to swarm of unmanned aerial vehicles (UAVs). They provide capacity expansion strategies to address massive connectivity issues and guarantee ultra-high throughput and low latency, especially in extreme or emergency situations where network density, bandwidth, and traffic patterns fluctuate. On the one hand, 6G technology integrates AI/ML, IoT, and blockchain to establish ultra-reliable, intelligent, secure, and ubiquitous UAV networks. 6G ne…
The conventional direction of arrival (DOA) estimation methods are performed with multiple receiving channels. In this paper, a changeling DOA estimation problem is addressed in a different scenario with only one full-functional receiving channel. A new unmanned aerial vehicle (UAV) swarm system using multiple lifted reconfigurable intelligent surface (RIS) is proposed for the DOA estimation. The UAV movement degrades the DOA estimation performance significantly, and the existing atomic norm minimization (ANM) methods cannot be used in the scenario with array perturbation. Specifically, consid…
This article proposes a cooperative friendly jamming framework for swarm unmanned aerial vehicle (UAV)-assisted amplify-and-forward (AF) relaying networks with wireless energy harvesting. Due to the limited energy of the UAVs, we develop a collaborative time-switching relaying protocol which allows the UAVs to collaborate to harvest wireless energy, relay information, and jam the eavesdropper. To evaluate the secrecy rate, we derive the secrecy outage probability (SOP) for two popular detection techniques at the eavesdropper, i.e., selection combining and maximum-ratio combining. Monte Carlo s…
King’s College London（伦敦国王学院）；Ericsson Inc.（爱立信公司）
Cellular-connected unmanned aerial vehicle (UAV) swarm is a promising solution for diverse applications, including cargo delivery and traffic control. However, it is still challenging to communicate with and control the UAV swarm with high reliability, low latency, and high energy efficiency. In this paper, we propose a two-phase command and control (C&C) transmission scheme in a cellular-connected UAV swarm network, where the ground base station (GBS) broadcasts the common C&C message in Phase I. In Phase II, the UAVs that have successfully decoded the C&C message will relay the message to th…
Integrating unmanned aerial vehicles (UAV) to non-orthogonal multiple access (NOMA) visible light communications (VLC) exposes many potentials over VLC and NOMA-VLC systems. In this circumstance, user grouping is of importance to reduce the NOMA decoding complexity when the number of users is large; however, this issue has not been considered in the existing study. In this paper, we aim to maximize the weighted sum-rate of all the users by jointly optimizing UAV placement, user grouping, and power allocation in downlink NOMA-VLC systems. We first consider an efficient user clustering strategy,…
Virginia Tech（弗吉尼亚理工大学）；University of Colorado Colorado Springs（科罗拉多大学科罗拉多斯普林斯分校）；Ericsson Research（爱立信研究院）；Princeton University（普林斯顿大学）；University of Oulu（奥卢大学）
Unmanned aerial vehicle (UAV) swarms must exploit machine learning (ML) in order to execute various tasks ranging from coordinated trajectory planning to cooperative target recognition. However, due to the lack of continuous connections between the UAV swarm and ground base stations (BSs), using centralized ML will be challenging, particularly when dealing with a large volume of data. In this paper, a novel framework is proposed to implement distributed federated learning (FL) algorithms within a UAV swarm that consists of a leading UAV and several following UAVs. Each following UAV trains a l…
This work details a scalable framework to orchestrate a swarm of rotary-wing UAVs serving as cellular relays to facilitate beyond line-of-sight connectivity and traffic offloading for ground users. First, a Multiscale Adaptive Energy-conscious Scheduling and TRajectory Optimization (MAESTRO) framework is developed for a single UAV. Aiming to minimize the time-averaged latency to serve user requests, subject to an average UAV power constraint, it is shown that the optimization problem can be cast as a semi-Markov decision process, and exhibits a multiscale structure: outer actions on radial wai…
The use of Unmanned Aerial Vehicles (UAVs) for collecting data from remotely located sensor systems is emerging. The data can be time-sensitive and require to be transmitted to a data processing center. However, planning the trajectory of a collaborative UAV swarm depends on multi-fold constraints, such as data collection requirements, UAV maneuvering capacity, and budget limitation. Since a UAV may fail or be compromised, it is important to provide necessary resilience to such contingencies, thus ensuring data security. It is important to provide the UAVs with efficient spatio-temporal trajec…
We consider the uplink transmission between a multi-antenna ground station and an unmanned aerial vehicle (UAV) swarm. The UAVs are assumed as intelligent agents, which can explore their optimal three dimensional (3-D) deployment to maximize the channel capacity of the multiple input multiple output (MIMO) system. Specifically, considering the limitations of each UAV in accessing the global information of the network, we focus on a decentralized control strategy by noting that each UAV in the swarm can only utilize the local information to achieve the optimal 3-D deployment. In this case, the …
We consider a relay network based on Unmanned Aerial Vehicles (UAV). Terrestrial Base Stations (TBS) and UAV Relay Nodes (RN) are modelled using two Homogeneous Poisson Point Processes (HPPP). UAVs can hover at a fixed position or move following specific displacement schemes. The Coverage Probability (CP) of a typical user equipment (UE) is derived, either when it communicates via a direct link (from the TBS to the UE) or via a relay link (from the TBS to the UE through a UAV RN). Every link can be in Line-of-Sight (LoS) or Non Line-of-Sight (NLoS), and suffers from Rician fading with distance…
In this paper, we study the self-healing problem of unmanned aerial vehicle (UAV) swarm network (USNET) that is required to quickly rebuild the communication connectivity under unpredictable external disruptions (UEDs). Firstly, to cope with the one-off UEDs, we propose a graph convolutional neural network (GCN) and find the recovery topology of the USNET in an on-line manner. Secondly, to cope with general UEDs, we develop a GCN based trajectory planning algorithm that can make UAVs rebuild the communication connectivity during the self-healing process. We also design a meta learning scheme t…
This paper investigates a full-duplex orthogonal-frequency-division multiple access (OFDMA) based multiple unmanned aerial vehicles (UAVs)-enabled wireless-powered Internet-of-Things (IoT) networks. In this paper, a swarm of UAVs is first deployed in three dimensions (3D) to simultaneously charge all devices, i.e., a downlink (DL) charging period, and then flies to new locations within this area to collect information from scheduled devices in several epochs via OFDMA due to potential limited number of channels available in Narrow Band IoT, i.e., an uplink (UL) communication period. To maximiz…
Tsinghua University（清华大学）；Baicells Technologies Co., Ltd.（佰才邦技术有限公司）；Nanjing University of Aeronautics and Astronautics（南京航空航天大学）
In this paper, we study the cluster head detection problem of a two-level unmanned aerial vehicle (UAV) swarm network (USNET) with multiple UAV clusters, where the inherent follow strategy (IFS) of low-level follower UAVs (FUAVs) with respect to high-level cluster head UAVs (HUAVs) is unknown. We first propose a graph attention self-supervised learning algorithm (GASSL) to detect the HUAVs of a single UAV cluster, where the GASSL can fit the IFS at the same time. Then, to detect the HUAVs in the USNET with multiple UAV clusters, we develop a multi-cluster graph attention self-supervised learni…
Unmanned Aerial Vehicle (UAV) swarms are often required in off-grid scenarios, such as disaster-struck, war-torn or rural areas, where the UAVs have no access to the power grid and instead rely on renewable energy. Considering a main battery fed from two renewable sources, wind and solar, we scale such a system based on the financial budget, environmental characteristics, and seasonal variations. Interestingly, the source of energy is correlated with the energy expenditure of the UAVs, since strong winds cause UAV hovering to become increasingly energy-hungry. The aim is to maximize the cost e…
