The days where swarms of unmanned aerial vehicles (UAVs) will occupy our skies are fast approaching due to the introduction cost-efficient and reliable small increasing demand for use such in a plethora civil applications. Governments industry alike have been heavily investing development UAVs. As it is important understand characteristics networks with UAVs enable incorporation multiple, coordinated into air traffic safe manner. To this end, survey reports requirements UAV envisioned...

This paper proposes and evaluates a modular architecture of an autonomous unmanned aerial vehicle (UAV) system for search rescue missions. Multiple multicopters are coordinated using distributed control system. The is implemented in the Robot Operating System (ROS) capable providing real-time video stream from UAV to one or more base stations wireless communications infrastructure. supports heterogeneous set UAVs camera sensors. If necessary, operator can interfere reduce autonomy. has been...

We propose a multi-objective optimization algorithm to allocate tasks and plan paths for team of UAVs. The UAVs must find target in bounded area then continuously communicate the information ground personnel. Our genetic approach aims minimize mission completion time, which includes time (area coverage) setup communication path (network connectivity). evaluate strategies using data mule, relay chain, novel hybrid with can be tuned prioritize coverage or connectivity, depending on demands....

Increasing availability of autonomous small-size aerial vehicles leads to a variety applications for exploration and surveillance, transport, other domains. Many these rely on networks between nodes, that will have high mobility dynamics with moving in all directions 3D space positioning different orientations, leading restrictions network connectivity. In this paper, we propose simple antenna extension 802.11 devices be used nodes. Path loss small-scale fading characteristics air-to-ground...

We analyze unmanned aerial vehicle (UAV)-to-ground links for an 802.11a-based small quadrotor UAV network with two on-board antennas via a set of field experiments. The paper presents our first results toward modeling the uplink and downlink channel provide path loss exponents open campus scenario. illustrate impact antenna orientation on received signal strength UDP throughput performance different heights, yaws, distances. When both are horizontal (parallel to flight direction plane), yaw...

Networks of micro aerial vehicles (MAVs) equipped with various sensors are increasingly used for civil applications, such as monitoring, surveillance, and disaster management. In this article, we discuss the communication requirements raised by applications in MAV networks. We propose a novel system representation that can be to specify different application demands. To end, extract key functionalities expected an network. map these into building blocks characterize needs. Based on insights...

Abstract We incorporate communication into the multi-UAV path planning problem for search and rescue missions to enable dynamic task allocation via information dissemination. Communication is not treated as a constraint but mission goal. While achieving this goal, our aim avoid compromising area coverage goal overall time. define tasks as: search, inform, monitor at best possible link quality. Building on centralized simultaneous inform connect (SIC) strategy, we propose two adaptive...

We investigate the area coverage and connectivity of an autonomous, unmanned aerial vehicle (UAV) network, whose goal is to monitor sense a given interest in efficient manner. To this end, we propose connectivity-based mobility model that aims sustain between UAVs ground station. compare performance proposed scheme with coverage-based several scenarios. Results illustrate trade-off achieving good spatial staying connected.

This paper considers a network of autonomous micro aerial vehicles (MAVs) cooperatively searching for multiple stationary targets. The objective is to minimize the search time while considering sensing and communication limitations. We derive limits required number sensor observations false alarms misdetections, declare existence or absence target. To time, we formulate cooperative as traveling salesman problem use calculated observation's in each predicted location Moreover, design options...

Small-scale multicopters operating as autonomous teams in the air are envisioned for aerial monitoring and transport of goods a variety applications, including disaster management environmental monitoring. For such applications to become reality, high-throughput wireless network is needed. This paper presents experimental performance results with commercially available quadrocopters communicating via IEEE 802.11a. In particular, we compare infrastructure mesh modes 802.11 one-hop two-hop...

The commercial availability of small unmanned aerial vehicles (UAVs) opens new horizons for applications in disaster response, search and rescue, event monitoring, delivery goods. An important building block is the wireless communication between UAVs to base stations. Design such a network may vary vastly from existing networks due characteristics as high mobility 3D space. This paper presents experimental performance results with commercially available UAVs. First, we show throughput IEEE...

In this work, we propose and analyze multi-drone path planners for multi-target search connectivity. The goal of the unmanned aerial vehicle (UAV) mission is to an unknown area detect, connect monitor multiple randomly distributed targets ground control station (GCS) while maintaining connectivity UAVs GCS. To end, use two types UAVs: relay. drones scan via onboard sensors, whereas relay provide We three different responses target detection with increasing adaptability: (i) follow...

The capacity of wireless networks can be increased via dynamic load balancing/sharing by employing overlay on top the existing cellular networks. One such recently proposed system is integrated and ad hoc relay (iCAR) system, where an network employed to use resources efficiently dynamically balancing hot spots in network, provide quality-of-service subscribers, no matter they are located when request made. It assumed that this operates 2.4-GHz Industrial, Scientific, Medical (ISM) band and,...

In this paper, we propose strategies for merging occupancy probabilities of target existence in multi-UAV cooperative search. The objective is to determine the impact cooperation and type information exchange on search time detection errors. To end, assume that small-scale UAVs (e.g., quadrotors) with communication range limitations move a given region following pre-defined paths locate single stationary target. Local grids are used represent existence, update its belief local observations...

While many interesting dynamic load balancing schemes have been proposed for efficient use of limited bandwidth and to increase the capacity congested or hot spots (or cells) in wireless networks, date, a comprehensive mathematical framework which encompasses all these does not exist. In this paper, we provide unified balancing, leads closed-form performance expressions evaluating some most important strategies literature. To best our knowledge, is first generic theoretical that can be used...

In this paper, we compare deterministic and probabilistic path planning strategies for an autonomous unmanned aerial vehicle (UAV) network, where the objective is to explore a given area with obstacles provide overview image. We present both online offline implementations of algorithms as alternative solutions, applicable, analyze performance implementations. Results illustrate benefits drawbacks different insight into which strategy should be taken, constraints application interest.

Networked unmanned aerial vehicles (UAVs) have found an increasing number of applications in recent years. In this work, we provide analytical method to evaluate the sensor coverage performance a UAV network, where individual UAVs can work independently or cooperatively achieve common goal. More specifically, propose stochastic model terms Markov chain including approximations for its parameters. Studying several scenarios using as well simulations, investigate impact network size and area...

Cooperative relaying is a communication technique in wireless networks where neighboring nodes assist pairs to mitigate the negative effects of multi-path fading. The resulting performance strongly depends on selected relays. Although cooperative relay provides benefits given source-destination pair, overall network might be degraded due increased level interference. So far almost all selection mechanisms consider mainly channel conditions potential In this paper we propose contention-based...

Majority of works in the field vehicular visible light communication (VLC) networks are based on some ideal assumptions. Particularly, Lambertian pattern is assumed for channel modeling and only a simple point-to-point transmission link considered network analysis. In this paper, we investigate performance multi-hop VLC recent reference models upcoming standards like IEEE 802.15.7r1 802.11bb. The impact asymmetrical radiation car headlamps, as well road reflectance considered. MAC layer,...

In this work, we study the target detection and tracking problem in mobile sensor networks, where performance metrics of interest are probability coverage, when can be stationary or its duration is finite. We propose a physical coverage-based mobility model, nodes move such that overlap between covered areas by different small. It shown for scenario proposed model achieve desired with significantly lower number especially requirements highly stringent. Similarly, produces consistently higher...