Abstract
In this paper, we consider unmanned aerial vehicle (UAV)-enabled two-way relaying communications between two robot swarms in the absence of communication infrastructures in remote areas or post-disaster rescues. To be more specific, UAV is employed as the relay to expand the communication range between two disconnected ground robot swarms, due to its high maneuverability and flexible deployment. Meanwhile, the two-way relaying mode adopted can improve the transmission performance in terms of delay and throughput in comparison to the conventional one-way relaying, owing to the ability of allowing devices to exchange information simultaneously. In addition, the UAV's trajectory and power allocation are jointly optimized to maximize the sum-rate of the uplink and downlink, where the joint optimization problem is decoupled into two sub-problems to address the non-convexity. Limited to the non-convex formation of the objective function for the trajectory optimization sub-problem, we firstly handle the non-convexity based on successive convex approximation method, and then alternating optimization framework is carried out to obtain the joint suboptimal solution. Numerical results exhibit significant throughput gains of the proposed scheme as compared to other benchmark schemes.
Highlights
As a result of the advances in computation, communication and sensor technology, it is popular to build kinds of robot swarms to fulfill certain complicated tasks such as surveillance and rescue [1]–[6]
We focus on deploying unmanned aerial vehicle (UAV) as a twoway relay to provide wireless connectivity between two disconnected robot swarms, which can reduce at least two time slots for system delay over one information interaction
2) We study a problem formulation for the joint optimization of UAV’s trajectory and transmit power to maximize the system sum-rate in a finite time horizon, while the constraints take into account the practical mobility and transmit power
Summary
As a result of the advances in computation, communication and sensor technology, it is popular to build kinds of robot swarms to fulfill certain complicated tasks such as surveillance and rescue [1]–[6]. Over the past two decades, the communication means among members of the robot swarm were well investigated such as pheromone [7]–[9], Infra-Red [10] and Bluetooth [11]. Cluster architecture in robot swarm enables better resource allocation and helps to enhance the stability and lifetime of network, while the methods for cluster-head selection have been variously studied in many literatures [12]–[14]. High data transmission among remote robot swarms in real-time is required for some specific communication environments. Investigating how cluster-heads of robot swarms communicate is a significant topic.
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