In this paper, we study delay-intolerant covert communications in additive white Gaussian noise (AWGN) channels with a finite block length, i.e., number of channel uses. Considering the maximum allowable uses to be N, it is not immediately clear whether actual uses, denoted by n, should as large N or smaller for communications. This because n reduces warden's chance detect due fewer observations, but also transmit information. We show that = indeed optimal maximize amount information bits...

In this work, we examine the optimality of Gaussian signalling for covert communications with an upper bound on $\mathcal{D}(p_{_1}||p_{_0})$ or $\mathcal{D}(p_{_0}||p_{_1})$ as covertness constraint, where and are different due to asymmetry Kullback-Leibler divergence, $p_{_0}(y)$ $p_{_1}(y)$ likelihood functions observation ${y}$ at warden under null hypothesis (no transmission) alternative (a transmission occurs), respectively. Considering additive white noise both receiver warden, prove...

This paper investigates a formation control problem of fixed-wing Unmanned Aerial Vehicle (UAV) swarms. A group-based hierarchical architecture is established among the UAVs, which decomposes all UAVs into several distinct and non-overlapping groups. In each group, form hierarchies with one UAV selected as group leader. All leaders execute coordinated path following to cooperatively handle mission process different groups, remaining followers track their direct achieve inner-group...

In this article, a multilayered and distributed architecture for mission-oriented miniature fixed-wing UAV swarms is presented. Based on the concept of modularity, proposed divides overall system into five layers: 1) low-level control layer; 2) high-level 3) coordination 4) communication 5) human interaction layer, many modules that can be viewed as black boxes with interfaces inputs outputs. way, not only complexity developing large reduced but also versatility supporting diversified...

This article investigates the problem of coordinated path following for fixed-wing unmanned aerial vehicles (UAVs) with speed constraints in two-dimensional plane. The objective is to steer a fleet UAVs along path(s) while achieving desired sequenced inter-UAV arc distance. In contrast previous path-following studies, we are able through our proposed hybrid control law deal forward and angular UAVs. More specifically, makes all work at two different levels: 1) those whose errors within an...

Covert communication is to achieve a reliable transmission from transmitter receiver while guaranteeing an arbitrarily small probability of this being detected by warden. In work, we study the covert in AWGN channels with finite blocklength, which number channel uses finite. Specifically, analytically prove that entire block (all available uses) should be utilized maximize effective throughput subject predetermined requirement. This nontrivial result because more results observations at...

In a mobile ad hoc network (MANET), effective prediction of time-varying interferences can enable adaptive transmission designs and therefore improve the communication performance. This paper investigates interference in MANETs with finite number nodes by proposing using general-order linear model for node mobility. The proposed mobility well approximate dynamics practical MANETs. contrast to previous studies on statistics, we are able through this give best estimate at any time rather than...

In this paper, we consider an anti-jamming problem for one unmanned aerial vehicle (UAV) reaching a given destination with maintaining the communication quality, where ground-to-air link is spatially affected by adversarial jammer. Note that jammer's position and transmit power are initially unknown. To solve problem, propose jammer detection-localization-evasion framework. Firstly, employ detection method combining Received Signal Strength (RSS) Packet Error Rate (PER). After detected, our...

This paper investigates the multiple unmanned aerial vehicle (multi-UAV) cooperative task assignment problem. Specifically, we assign different types of UAVs to accomplish classification, attack, and verification tasks targets under resource, precedence, timing constraints. Due complex coupling among these tasks, decompose considered problem into two subproblems: one with continuous independent another correlative tasks. To solve them, first present an adjustable, fully adaptive...

In multiple unmanned aerial vehicle (UAV) formation control systems, high scalability can guarantee the stability when UAVs join in or leave system, and thus improves robustness of flight. This paper investigates problem for multi-UAV with double-integrator dynamics. To be more specific, we focus how to build communication links fixed parameters such that always keep stable adding/removing arbitrary number UAVs. A bio-inspired method - Veteran Rule is proposed solve this problem. Compared...

Set-membership filter (SMF) has been extensively studied for state estimation in the presence of bounded noises with unknown statistics. Since it was first introduced 1960s, studies on SMF have used set-based description as its mathematical framework. One important issue that overlooked is optimality SMF. In this article, we put forward a new framework using concepts uncertain variables. We establish two basic properties variables, namely, law total range (a nonstochastic version...

This paper studies the positioning problem for a moving vehicle with single-beacon ranging and Inertial Measurement Unit (IMU). Unlike previous widely relying on multiple beacons, using single beacon was less considered very challenging. Toward tackling this challenge, we propose novel method that enables one to improve accuracy of IMU data via measurements. More specifically, based error model sensors, Bayesian optimization is put forward derive optimal estimation data, including angular...

Multi-Object Tracking (MOT) is a key technology for Unmanned Aerial Vehicles (UAVs). Traditional tracking-by-detection methods firstly employ an object detector to retrieve targets in each image and then track them based on matching algorithm. Recently, the popular multi-task learning has been dominating this area since they can detect extract Re-Identification (Re-ID) features computationally efficient way. However, detection task tracking have conflicting requirements features, leading...

Visual guidance has attracted more and attention in the navigation field thanks to its accuracy robustness. This paper presents a ground-based visual system for autonomous Unmanned Aerial Vehicles (UAV) landing. The consists of two cameras pan-tilt units (PTU) that mounted on both sides runway. In this system, computer vision is adopted UAV detection tracking. To be specific, triangulation, geometric method binocular vision, employed calculate 3D coordinates order provide landing parameters...

This paper studies an online algorithm for energy harvesting transmitter, where the transmission (completion) time is considered as system performance. Unlike existing algorithms, which more or less require knowledge on future behavior of energy-harvesting rate, we consider a practical but significantly challenging scenario, rate assumed to be totally unknown. Our design formulated robust-optimal control problem, aims optimize worst-case The transmit power designed based only current battery...

The swarm stability problem of high-order linear time-invariant (LTI) singular multiagent systems with directed graph topology is investigated extensively. Consensus can be regarded as a specific case problem. Necessary and sufficient conditions for both consensus are presented. These depend on the generalized inverse theory, dynamics agents, interaction among neighbours. Several examples to illustrate effectiveness theoretical results given.