Optimal Trajectory Planning for UAV-relayed Dynamic Spectrum Access

The energy harvesting of unmanned aerial vehicle (UAV) has been researched extensively in recent years. However, the existing energy harvesting between the base station and UAVs does not consider the information asymmetry factor, which means the base station provides the radio frequency (RF) energy for UAVs in the context of UAVs’ partial private information. In order to maximize the base station’s utility or payoff, it is crucial for the base station to motivate more UAVs to harvest RF energy. In the paper, we propose an effective incentive energy harvesting mechanism in UAV communication network, which is a challenging problem since there exist interest conflicts that the base station and UAVs are rational individuals who maximize their utilities. Our objective is to make the base station’s utility maximum via balancing the tradeoff between transmit power cost and charged price benefit, while incentivizing UAVs to purchase transmit power. We design a series of optimal energy harvesting contract with different price discounts targeting different types of UAVs by contract theory. Owing to information asymmetry, we analyze two different information scenarios: complete and incomplete information. We suppose the base station knows each UAV’s type in complete information, then we analyze the practical case that the base station is aware of incomplete information of UAV’s private information. The base station aims to maximize its utility by providing contract. The UAVs choose the contract meeting the individual rationality (IR) and incentive compatibility (IC) rules while maximizing their utilities. Our simulation shows that the energy harvesting mechanism maximizes the base station’s utility and stimulates UAVs to purchase RF energy transmit power in different scenarios. Compared with other methods, our proposed optimal contract can improve the utility of the base station while maximizing the utility of UAVs.

As a supplement of mobile communication in Fifth generation mobile networks (5G), Unmanned Aerial Vehicles (UAVs) are playing an important role in user coverage. When base stations (BSs) are not able to serve all users in hot spots, deployable UAVs are required to mitigate the burden of BSs and maximize the access number of users. Besides, thanks to the controllable mobility, UAVs can provide better coverage for the mobile users with high velocity or fixed direction. Therefore, it is important to solve the problem of the trajectory planing of multiple UAVs. In this paper, we propose a UAV trajectory optimization strategy to maximize the access number of moving users. Firstly, according to the mobility of UAVs and the Signal to Interference plus Noise Ratio (SINR) requirements of users, we formulate the UAV's trajectory optimization problem, which is an atypical mixed integer linear programming problem (MILP). Then, a convex optimization problem is obtained by correlation relaxation of the previous atypical MILP. Finally, we propose a practicable trajectory optimization algorithm with limited times of iteration. The simulation results show that the proposed algorithm can maximize the access number of users while maintaining enough SINR.

The line-of-sight (LoS) dominant air-ground channels have posed critical interference issues in cellular-connected unmanned aerial vehicle (UAV) communications. In this paper, we propose a new base station (BS) cooperative beamforming (CB) technique for the cellular downlink to mitigate the strong interference caused by the co-channel terrestrial transmissions to the UAV. Besides the conventional CB by cooperatively transmitting the UAV's message, the serving BSs of the UAV exploit a novel CB-based {\it \textbf{interference transmission}} scheme to effectively suppress the terrestrial interference to the UAV. Specifically, the co-channel terrestrial users' messages are shared with the UAV's serving BSs and transmitted via CB so as to cancel their resultant interference at the UAV receiver. To optimally balance between the CB gains for UAV signal enhancement and terrestrial interference cancellation, we formulate a new problem to maximize the UAV's receive signal-to-interference- plus-noise ratio (SINR) by jointly optimizing the power allocations at all of its serving BSs for transmitting the UAV's and co-channel terrestrial users' messages. First, we derive the closed-form optimal solution to this problem in the special case of one serving BS for the UAV and draw useful insights. Then, we propose an algorithm to solve the problem optimally in the general case. Simulation results show that the proposed CB scheme with interference transmission and cancellation (ITC) significantly improves the UAV's downlink SINR as compared to the conventional CB without applying ITC.

In this paper, we consider the cellular Internet of unmanned aerial vehicles (UAVs), where UAVs sense data with onboard sensors for multiple sensing tasks and transmit the data to the base station (BS). To quantify the “freshness” of the data at the BS, we bring in the concept of the age of information (AoI). The AoI is determined by the time for UAV sensing and that for UAV transmission, which gives rise to a trade-off within a given period. To minimize the AoI, we formulate a joint sensing time, transmission time, UAV trajectory, and task scheduling optimization problem. This NP-hard problem can be decoupled into two subproblems. We first propose an iterative algorithm to optimize the sensing time, transmission time, and UAV velocity for completing a specific task. Afterwards, we design the order in which the UAV performs data updates for multiple sensing tasks. The convergence and complexity of the proposed algorithm, together with the trade-off between UAV sensing and UAV transmission, are analyzed. Simulation results show that the AoI with the proposed algorithm is about 15% lower than that of the greedy algorithm, and over 40% lower than that of the random algorithm.

Cellular-enabled unmanned aerial vehicles (UAVs) require almost continuous cellular network connectivity to fulfill their missions successfully. However, the area (e.g., rural) they fly over may have partial coverage, making the path planning of such UAV missions a challenging task. Recently a tolerable outage duration is taken into account for such UAVs, and the trajectory optimization under this outage duration is studied. However, these existing studies consider only a single UAV and focus on optimization of each UAV's own path separately even in multi-UAV scenarios. In this paper, we study the trajectory optimization problem for cellular-enabled UAVs by taking into account the collaboration among UAVs. That is, for a given set of UAVs, each with a mission to fly from a starting point to an ending point, we aim to optimize the total mission completion time for all UAVs such that none of them has a connection outage more than a threshold. We let UAVs collaborate and provide connectivity as relays to each other to solve their outage problem and shorten their trajectories. We first model and solve this problem using nonlinear programming after discretization of the problem. Since it takes longer to solve the problem with such an approach, we then provide a graph-based approximate solution that runs fast. Numerical results show that the proposed approximate solution provides close to optimal results and performs better than state-of-the-art solutions that consider each UAV separately without collaboration among UAVs.

In this paper, a novel three dimensional (3D) positioning framework of fluid antenna system (FAS)-enabled unmanned aerial vehicles (UAVs) is developed. In the proposed framework, a set of controlled UAVs including an active UAV and four FAS-enabled passive UAVs cooperatively estimate the real-time 3D position of a target UAV. Here, the active UAV transmits a measurement signal to the passive UAVs via the reflection from the target UAV. Each passive UAV estimates the distance of the active-target-passive UAV link and selects an antenna port to share the distance information with the base station (BS), which calculates the real-time position of the target UAV. As the target UAV is moving due to its task operation, the controlled UAVs must optimize their trajectories and select optimal antenna port for transmitting the positioning information, aiming to estimate the real-time position of the target UAV. We formulate this problem as an optimization problem whose goal is to minimize the target UAV positioning error via optimizing the trajectories of all controlled UAVs and antenna port selection of passive UAVs. To address this problem, an attention-based recurrent multi-agent reinforcement learning (AR-MARL) scheme is proposed, which enables each controlled UAV to use the local Q function to determine its trajectory and antenna port while optimizing the target UAV positioning performance without knowing the trajectories and antenna port selections of other controlled UAVs. Different from current MARL methods that use feedforward neural networks to approximate Q functions, the proposed method uses a recurrent neural network (RNN) that incorporates historical state-action pairs of each controlled UAV, and an attention mechanism to analyze the importance of these historical state-action pairs, thus improving the global Q function approximation accuracy and the target UAV positioning accuracy. Simulation results show that the proposed scheme can reduce the average positioning error by up to 17.5% and 58.5% compared to the value decomposition based-MARL scheme with FAS and the proposed AR-MARL method without FAS.

Wireless communication is an essential technology to unlock the full potential of unmanned aerial vehicles (UAVs) in numerous applications and has thus received unprecedented attention recently. Although technologies such as direct link, WiFi, and satellite communications are still useful in some remote scenarios where cellular services are unavailable, it is believed that exploiting the thriving 5G and beyond cellular networks to support UAV communications is the most promising and cost-effective approach, especially when the number of UAVs grows dramatically. On the one hand, to guarantee safe and efficient flight operations of multiple UAVs, it is of paramount importance to provide secure and ultra-reliable communication links between the UAVs and their ground pilots or control stations for conveying command and control signals, especially in beyond-visual-line-of-sight (BVLOS) scenarios. On the other hand, because of advances in communication equipment miniaturization as well as UAV manufacturing, mounting compact and lightweight base stations (BSs) or relays on UAVs becomes increasingly feasible. This has led to two promising research paradigms for UAV communications, namely, UAV-assisted cellular communications and cellular-connected UAVs, where UAVs are integrated into cellular networks as aerial communication platforms and aerial users, respectively. As such, integrating UAVs into cellular networks is believed to be a win-win technology for both UAV-related industries and cellular network operators, which not only creates plenty of new business opportunities but also benefits the communication performance of 3-D wireless networks. In addition, UAV related sensing and computing are also helpful for achieving efficient and reliable communication (e.g., in avoiding coverage holes) as well as smart UAV coordination, positioning, and trajectory design. However, 5G and beyond wireless networks with UAVs significantly differs from traditional communication systems, because of the high altitude and high maneuverability of UAVs, the unique UAV-ground channels, the diversified quality of service (QoS) requirements for downlink command and control (C&C) and uplink mission-related data transmission, the stringent constraints imposed by the size, weight, and power (SWAP) limitations of UAVs, as well as the new design degrees of freedom enabled by joint UAV mobility control and communication resource allocation.

Unmanned aerial vehicles (UAVs) are playing an important role in serving ground users as base stations (BSs) during temporary events, or after terrestrial BSs fail. UAV deployment is a fundamental and vital problem which directly affects the coverage capacity and user experience. Especially, while deploying a UAV backbone network, the cost and the quality of service (QoS) of the ground users as well as the connectivity among UAVs need to be considered jointly. In this paper, the deployment problem is modeled as minimizing the amount of deployed UAVs while guaranteeing the coverage capacity and connectivity among UAVs. Further, a novel UAV deployment scheme is proposed where a heuristic algorithm is adopted to delete locations from the initially defined candidate UAV locations iteratively, and UAVs are deployed at the remaining locations finally. The simulation results show that our UAV deployment scheme can achieve minimum deployed UAVs while ensuring QoS requirements and a robust network among UAVs.

Unmanned aerial vehicles (UAVs) have been considered as a solution to extend coverage for disaster-resilient communication networks in a disaster area when the communication infrastructure which is known as the base station (BS) cannot afford the service as usual. However, when the link between the UAV and the serving BS is constrained, the UAV must keep the appropriate distance for reliable transmission. In addition, the altitude of the UAV may significantly affect the link quality between the UAV and the BS, as well as the link between the UAV and the users/rescuers. In this paper, we analyze the coverage of the disaster-resilient communication network with a UAV for guaranteeing the reliability of all links. We show that the position of UAV can be a function of the BS's and user's elevation angle. The simulation results show that the maximum radius of coverage in the high-rise urban environment can be 5.25 km and 2.46 km for downlink and uplink, respectively. Moreover, this paper can provide a principle for the central emergency operation center (CEOC) to immediately deploy the disaster-resilient communication network.

In this paper, the problem of using one active unmanned aerial vehicle (UAV) and four passive UAVs to localize a 3D target UAV in real time is investigated. In the considered model, each passive UAV receives reflection signals from the target UAV, which are initially transmitted by the active UAV. The received reflection signals allow each passive UAV to estimate the signal transmission distance which will be transmitted to a base station (BS) for the estimation of the position of the target UAV. Due to the movement of the target UAV, each active/passive UAV must optimize its trajectory to continuously localize the target UAV. Meanwhile, since the accuracy of the distance estimation depends on the signal-to-noise ratio of the transmission signals, the active UAV must optimize its transmit power. This problem is formulated as an optimization problem whose goal is to jointly optimize the transmit power of the active UAV and trajectories of both active and passive UAVs so as to maximize the target UAV positioning accuracy. To solve this problem, a Z function decomposition based reinforcement learning (ZD-RL) method is proposed. Compared to value function decomposition based RL (VD-RL), the proposed method can find the probability distribution of the sum of future rewards to accurately estimate the expected value of the sum of future rewards thus finding better transmit power of the active UAV and trajectories for both active and passive UAVs and improving target UAV positioning accuracy. Simulation results show that the proposed ZD-RL method can reduce the positioning errors by up to 39.4% and 64.6%, compared to VD-RL and independent deep RL methods, respectively.

The peculiar line-of-sight (LoS) propagation in air-to-ground channel provides both opportunities and challenges for the emerging cellular-connected unmanned aerial vehicle (UAV) communications. On one hand, the LoS channels make more cellular base stations (BSs) visible to a UAV as compared to ground users, which leads to a higher macro-diversity gain as compared to the ground users. On the other hand, the LoS channels also render the UAV to generate/receive more severe uplink/downlink interference to/from the BSs, thus requiring more sophisticated inter-cell interference coordination (ICIC) techniques with more BSs involved. To draw essential insight, this paper studies the uplink transmission from a UAV to cellular BSs. To mitigate the UAV's interference effect, we aim to maximize the sum-rate of the UAV and all ground users in its resulted ICIC region by jointly optimizing the UAV's cell association, resource block (RB) allocation, and transmit power. We first propose a centralized ICIC design that achieves the optimal performance. As the centralized ICIC requires global information of the network and substantial information exchange among an excessively large number of BSs, we further propose a decentralized ICIC scheme of significantly lower complexity and overhead for implementation. Specifically, we divide the cellular BSs into clusters, each with a dedicated cluster head for collecting information from its cluster BSs and exchanging information with the UAV by exploiting the LoS-induced macro-diversity. Numerical results show that the proposed decentralized ICIC scheme achieves a performance close to the optimal centralized design, and also outperforms the traditional ICIC scheme for cellular networks with terrestrial interference only.

Unmanned aerial vehicles (UAVs) are an emerging technology in the 5G-and-beyond systems with the promise of assisting cellular communications and supporting IoT deployment in remote and density areas. Safe and secure navigation is essential for UAV remote and autonomous deployment. Indeed, the opensource simulator can use commercial software-defined radio tools to generate fake global positioning system (GPS) signals and spoof the UAV GPS receiver to calculate wrong locations, deviating from the planned trajectory. Fortunately, the existing mobile positioning system can provide additional navigation for cellular-connected UAVs and verify the UAV GPS locations for spoofing detection, but it needs at least three base stations (BSs) at the same time. In this article, we propose a novel deep-ensemble-learning-based, mobile-network-assisted UAV monitoring and tracking system for cellular-connected UAV spoofing detection. The proposed method uses path losses between BSs and UAVs communication to indicate the UAV trajectory deviation caused by GPS spoofing. To increase the detection accuracy, three statistics methods are adopted to remove environmental impacts on path losses. In addition, deep ensemble learning methods are deployed on the edge cloud servers and use the multilayer perceptron (MLP) neural networks to analyze path losses statistical features for making a final decision, which has no additional requirements and energy consumption on UAVs. The experimental results show the effectiveness of our method in detecting GPS spoofing, achieving above 97% accuracy rate under two BSs, while it can still achieve at least 83% accuracy under only one BS.

An unmanned aerial vehicle (UAV) multi-spectral system provides a monitoring platform to rapidly obtain crop spectral information that can reflect crop nitrogen status for the generation of dynamic variable-rate nitrogen (VRN). To improve the accuracy of VRN prescription maps, a method of generating VRN prescription maps on the basis of the vegetation index was proposed, and the effects of UAV flight time and altitude on VRN prescription maps were analyzed. The experimental site was located in Dacaozhuang, Hebei Province, China, and the experimental crop was winter wheat (Lunxuan 145). The flight altitudes of the UAV system were set to 50, 70 and 90 m. The flight times were set to 8:00 a.m., 11:00 a.m., 2:00 p.m. and 5:00 p.m. local time. The flight area was 1.18 ha with a 60° rotation angle under a three-span center pivot irrigation system with an overhang. UAV flight missions were executed during the jointing, heading, and grain filling phases of winter wheat. There were 90 management zones with pie shapes in total, which were composed of a 10° angle in the rotation direction and 4 sprinklers along the lateral direction. The vegetation indices (VIs) which are closely related to crop nutrient status were selected and used to generate distribution maps, which were superimposed with the management zones to generate VRN prescription maps. The results demonstrated that the red-edge soil adjusted vegetation index (RESAVI) was relatively more sensitive to the nitrogen status of winter wheat than the other VIs were. The RESAVI distributions were stable during periods with a solar elevation angle greater than 50° (11:00 a.m.–2:00 p.m. local time), and the VRN prescription maps were similar, with the overlap percentage of the same fertilization grade being greater than 80% and the relative error of the fertilization amount being less than 5%. Compared with that at 2:00 p.m., the overlap percentage of the same fertilization grade was 56.6% in both seasons at 8:00 a.m., whereas flights at 5:00 p.m. exhibited overlaps of 70.9% and 44.6% in the 2023 and 2024 seasons, respectively. Conversely, the flight altitude had little influence on the fertilizer amount and VRN prescription maps. The difference in the amount of fertilizer used was less than 3% at different flight altitudes. The required time is half of that for a 50 m flight when the flight altitude is 70 m and one third of that when the flight altitude is 90 m. Our study recommended operating the UAV multi-spectral system at solar elevation angles greater than 50° when generating VRN prescription maps of winter wheat, and the flight height can be adjusted according to the field area and the endurance time of the UAV.

This study explores the application of Particle Swarm Optimization (PSO) in Unmanned Aerial Vehicle (UAV) path planning within a simulated three-dimensional environment. UAVs, increasingly prevalent across various sectors, demand efficient navigation solutions that account for dynamic and unpredictable elements. Traditional pathfinding algorithms often fall short in complex scenarios, hence the shift towards PSO, a bio-inspired algorithm recognized for its adaptability and robustness. We developed a Python-based framework to simulate the UAV path planning scenario. The PSO algorithm was tasked to navigate a UAV from a starting point to a predetermined destination while avoiding spherical obstacles. The environment was set within a 3D grid with a series of waypoints, marking the UAV's trajectory, generated by the PSO to ensure obstacle avoidance and path optimization. The PSO parameters were meticulously tuned to balance the exploration and exploitation of the search space, with an emphasis on computational efficiency. A cost function penalizing proximity to obstacles guided the PSO in real-time decision-making, resulting in a collision-free and optimized path. The UAV's trajectory was visualized in both 2D and 3D perspectives, with the analysis focusing on the path's smoothness, length, and adherence to spatial constraints. The results affirm the PSO's effectiveness in UAV path planning, successfully avoiding obstacles and minimizing path length. The findings highlight PSO's potential for practical UAV applications, emphasizing the importance of parameter optimization. This research contributes to the advancement of autonomous UAV navigation, indicating PSO as a viable solution for real-world path planning challenges.

This paper studies an unmanned aerial vehicle (UAV)-enabled multiple access channel (MAC), in which multiple ground users transmit individual messages to a mobile UAV in the sky. We consider a linear topology scenario, where these users locate in a straight line and the UAV flies at a fixed altitude above the line connecting them. Under this setup, we jointly optimize the one-dimensional (1D) UAV trajectory and wireless resource allocation to reveal the fundamental rate limits of the UAV-enabled MAC, under the users' individual maximum power constraints and the UAV's maximum flight speed constraints. First, we consider the capacity-achieving non-orthogonal multiple access (NOMA) transmission with successive interference cancellation (SIC) at the UAV receiver. In this case, we characterize the capacity region by maximizing the average sum-rate of users subject to rate profile constraints. To optimally solve this highly non-convex problem, we transform the original speed-constrained trajectory optimization problem into a speed-free problem that is optimally solvable via the Lagrange dual decomposition. It is rigorously proved that the optimal 1D trajectory solution follows the successive hover-and-fly (SHF) structure. Next, we consider two orthogonal multiple access (OMA) transmission schemes, i.e., frequency-division multiple access (FDMA) and time-division multiple access (TDMA). We maximize the achievable rate regions in the two cases by jointly optimizing the 1D trajectory design and wireless resource (frequency/time) allocation. It is shown that the optimal trajectory solutions still follow the SHF structure but with different hovering locations. Finally, numerical results show that the proposed optimal trajectory designs achieve considerable rate gains over other benchmark schemes, and the capacity region achieved by NOMA significantly outperforms the rate regions by FDMA and TDMA.