Multi-unmanned Aerial Vehicle Research Articles

Multi-UAVs Tracking Non-Cooperative Target Using Constrained Iterative Linear Quadratic Gaussian

This study considers the problem of controlling multi-unmanned aerial vehicles (UAVs) to consistently track a non-cooperative ground target with uncertain motion in a hostile environment with obstacles. An active information acquisition (AIA) problem is formulated to minimize the uncertainty of the target tracking task. The uncertain motion of the target is represented as a Wiener process. First, we optimize the configuration of the UAV swarm considering the collision avoidance, horizontal field of view (HFOV), and communication radius to calculate the reference trajectories of the UAVs. Next, a novel algorithm called Constrained Iterative Linear Quadratic Gaussian (CILQG) is introduced to track the reference trajectory. The target’s state with uncertainty and the UAV state are described as beliefs. The CILQG algorithm utilizes the Unscented Transform to propagate the belief regarding the UAVs’ motions, while also accounting for the impact of navigation errors on the target tracking process. The estimation error of the target position of the proposed method is under 4 m, and the error of tracking the reference trajectories is under 3 m. The estimation error remains unchanged even in the presence of obstacles. Therefore, this approach effectively deals with the uncertainties involved and ensures accurate tracking of the target.

Connectivity preservation control for multiple unmanned aerial vehicles in the presence of bounded actuation

This paper proposes a novel multi-unmanned aerial vehicle (UAV) connectivity preservation controller, suitable for scenarios with bounded actuation and limited communication range. According to the hierarchical control strategy, controllers are designed separately for the position and attitude subsystems. A distributed position controller is developed, integrating an indirect coupling control mechanism. The innovative mechanism associates each UAV with a virtual proxy, facilitating connections among adjacent UAVs through these proxies. This structuring assists in managing the actuator saturation constraints effectively. The artificial potential function is utilized to preserve network connectivity and fulfill coordination among all virtual proxies. Additionally, an attitude controller designed for finite-time convergence guarantees that the attitude subsystem adheres precisely to the attitude specified by the distributed position controller. Simulation results validate the efficacy of this distributed formation controller with connectivity preservation under bounded actuation conditions. The simulation results confirm the effectiveness of the distributed connectivity preservation controller with bounded actuation.

Cooperative networking and information processing system of wireless communication UAV under the background of intelligent service

AbstractIn order to solve the huge impact of the digital information age on many technical and industrial fields, a periodic fast search genetic algorithm is proposed. Based on the reconnaissance mission, this paper introduces the common allocation strategy into mission planning, and constructs the mathematical model of multi unmanned aerial vehicle (UAV) cooperative reconnaissance mission planning decision‐making. The proposed periodic fast search genetic algorithm is used to solve the problem of multi UAV cooperative reconnaissance mission planning. In 2020, the industry growth rate of global UAV technology expenditure was as high as 30.6%, and the compound growth rate of UAV in China reached 63.5%, which is enough to see the great prospect of the integrated development of UAV technology and different industries. The experiment evaluates the log verification module of UAV by comparing the two data structures of Merkle tree and linear, and the time and memory overhead of storing and verifying logs, which shows the effectiveness of the log verification scheme in this paper.

Fully Autonomous Trustworthy Unmanned Aerial Vehicle Teamwork: A Research Guideline Using Level 2 Blockchain

The vast range of possible fully autonomous multiunmanned aerial vehicle (multi-UAV) operations is creating a new and expanding market where technological advances are happening at a breakneck pace. The integration of UAVs in airspaces (not just for military purposes but also for civil, commercial, and leisure use) is essential in realizing the potential of this growing industry. Furthermore, with the advent of 6G, such integration will be cost-effective and more flexible. However, to reach widespread adoption, new models focusing on the safety, efficiency, reliability, and privacy of fully autonomous multi-UAV operations, ensuring that the operation history is trustworthy and can be audited by the relevant stakeholders, need to be developed. Accordingly, this work presents a research guideline for fully autonomous trustworthy UAV teamwork through layer 2 blockchains that provide efficient, privacy-preserving, reliable, and secure multi-UAV service delivery. We show the implications of this approach for an aerial surveillance use case.

Multi unmanned aerial vehicle odor source location based on improved artificial fish swarm algorithm

Odor source location technology has important application value in environmental monitoring, safety emergency and search and rescue operations. For example, it can be used in post-disaster search and rescue, detection of hazardous gas leakage, and fire source detection. Existing odor source location methods have problems such as low search efficiency, inability to adapt to complex environments, and inaccurate odor source location. In this study, based on unmanned aerial vehicle technology and using swarm intelligence optimization algorithm, an improved artificial fish swarm algorithm (IAFSA) is proposed by combining curiosity in psychology on the basis of retaining the good optimization performance of the artificial fish swarm algorithm. The algorithm quantifies the curiosity of artificial fish searching high-concentration areas through a model, dynamically adjusts the artificial fish's field of vision and step length with the calculated curiosity factor, and avoids the oscillation phenomenon in the later stage of the algorithm. Simulation results show that the IAFSA has a higher success rate and smaller location error. Finally, odor source location experiments were carried out in an indoor physical environment, the feasibility of the odor source location method proposed in this study is verified in actual scenarios.

Multi-Armed Bandit Algorithms: Innovations and Applications in Dynamic Environments

This paper delves into the fundamental concept of the Multi-Armed Bandit (MAB) problem, structuring its analysis around two primary phases. The initial phase, exploration, is dedicated to investigating the potential rewards of each arm. Subsequently, the exploitation phase utilizes insights from exploration to maximize returns. The discussion then progresses to elucidate the core methodologies and workflows of three principal MAB algorithms: Upper Confidence Bound (UCB), Thompson Sampling, and Epsilon-Greedy. These algorithms are meticulously analyzed for their unique approaches and efficiencies in handling the MAB problem. Expanding the scope further, the paper spotlights three practical applications of MAB algorithms. The first application involves Dynamic Resource Allocation in Multi-Unmanned Aerial Vehicle (UAV) Air-Ground Networks, leveraging the K-armed Bandit framework. This is followed by an exploration of Product Pricing Algorithms grounded in MAB principles, offering innovative solutions for dynamic pricing strategies. Lastly, the paper examines a cost-effective MAB algorithm tailored for dense wireless networks, addressing the complexities and demands of modern network infrastructures. This comprehensive study not only highlights the versatility of MAB algorithms but also underscores their growing importance in diverse real-world applications.

Multi-UAV and IRS placement for secure data transmission in NOMA-enabled wireless networks

In this paper, we investigate multi-unmanned aerial vehicle (UAV)-enabled intelligent reflecting surface (IRS)-assisted non-orthogonal multiple access (NOMA) downlink networks for secure data transmission in the presence of an intruder. Since Line of Sight (LoS) communication is obstructed, UAVs are utilized as aerial base stations to transmit confidential data to ground users with the assistance of IRS. The objective is to optimize the placement of UAVs and IRS, phase shift of the IRS, and transmit beamforming of the UAVs in order to maximize the network secrecy rate. The formulated optimization problem is non-convex in nature, posing a challenge in finding the optimal solution using conventional techniques. To tackle this problem, we propose a novel algorithm called balanced grey wolf optimizer and differential evolution (B-GWODE). This algorithm not only leverages the advantages of both the GWO and DE algorithms but also incorporates parameter modifications to mitigate the issue of premature convergence and to strike a suitable balance between exploration and exploitation. This hybrid approach efficiently search the solution space and obtain the optimal configuration that maximizes the network secrecy rate. Simulation results demonstrate the superiority of our proposed B-GWODE algorithm over the benchmark methods.

Aerial Surveillance Leveraging Delaunay Triangulation and Multiple-UAV Imaging Systems

In aerial surveillance systems, achieving optimal object detection precision is of paramount importance for effective monitoring and reconnaissance. This article presents a novel approach to enhance object detection accuracy through the integration of Delaunay triangulation with multi-unmanned aerial vehicle (UAV) systems. The methodology involves positioning multiple UAVs at pre-specified locations using the Delaunay triangulation algorithm with performance of O (n log n). This is compared with the conventional single UAV approach at a near distance. Our findings reveal that the collaborative efforts of multiple UAVs, guided by Delaunay triangulation, significantly improves object detection accuracy, especially when compared to a single UAV operating in close proximity. This research employs advanced image processing techniques to identify objects in the area under surveillance. Results indicate a substantial enhancement in the collective surveillance capabilities of the multi-UAV system, demonstrating its efficacy in unconstrained scenarios. This research not only contributes to the optimization of aerial surveillance operations but also underscores the potential of spatially informed UAV networks for applications demanding heightened object detection accuracy. The integration of Delaunay triangulation with multi-UAV systems emerges as a promising strategy for advancing the capabilities of aerial surveillance in scenarios ranging from security and emergency response to environmental monitoring.

Metropolis criterion pigeon-inspired optimization for multi-UAV swarm controller

This paper presents a new multiple unmanned aerial vehicle swarm controller based on Metropolis criterion. This paper presents the design of a controller, utilizing the improved Metropolis criterion pigeon-inspired optimization (IMCPIO) and proportional-integrational-derivative (PID) algorithms, and conducts comparative experiments. Simulation outcomes demonstrate the enhanced performance of the multi-unmanned aerial vehicle formation controller, which is based on IMCPIO, when compared to the basic pigeon-inspired optimization (PIO) algorithm and the genetic algorithm. The IMCPIO algorithm for the energy difference discrimination makes it a faster convergence and more stable effective optimization. Hence, the controller introduced in this study proves to be both practical and resilient.

A novel recurrent self-evolving fuzzy neural network for consensus decision-making of unmanned aerial vehicles

Currently, for years, unmanned aerial vehicles have been widely applied in a comprehensive realm. By enhancing computer photography and artificial intelligence, it can automatically discriminate against environmental objectives and detect events that occur in the real scene. The application of collaborative unmanned aerial vehicles will offer diverse interpretations which support a multiperspective view of the scene. Due to diverse interpretations of unmanned aerial vehicles usually deviates, thus, unmanned aerial vehicles require a consensus interpretation for the scenario. To previous purposes, this study presents an original consensus-based method to pilot multi-unmanned aerial vehicle systems for achieving consensus on their observation as well as constructing a group situation-based depiction of the scenario. Further, a fuzzy neural network generalized prediction control system known as a recurrent self-evolving fuzzy neural network is mainly used to ensure stability through the use of a descending gradient online learning rule. At the same time, users can think along the lines of evolutionary biological design. Unmanned aerial vehicles can be modeled as system experts for solving group problems that require the definition of conditions that best describe the scene. First, this method allows each unmanned aerial vehicle to set high-level conditions for detection events by aggregating events based on fuzzy information. These aggregated events are modeled by a fuzzy system ontology, which allows each unmanned aerial vehicle to report its preferences in conditions. Therefore, the interpretation of each drone is compressed to achieve a collective interpretation of the state. The final polls, consent and affinity polls confirmed the final decision group’s reliability ratings. The rated consensus indicates how well the collective interpretation of the scene matches each drone’s point of view.

Multi-UAV-assisted Internet of Remote Things communication within satellite–aerial–terrestrial integrated network

Due to the limited transmission capabilities of terrestrial intelligent devices within the Internet of Remote Things (IoRT), this paper proposes an optimization scheme aimed at enhancing data transmission rate while ensuring communication reliability. This scheme focuses on multi-unmanned aerial vehicle (UAV)-assisted IoRT data communication within the satellite–aerial–terrestrial integrated network (SATIN), which is one of the key technologies for the sixth generation (6G) networks. To optimize the system’s data transmission rate, we introduce a multi-dimensional coverage and power optimization (CPO) algorithm, rooted in the block coordinate descent (BCD) method. This algorithm concurrently optimizes various parameters, including the number and deployment of UAVs, the correlation between IoRT devices and UAVs, and the transmission power of both devices and UAVs. To ensure comprehensive coverage of a large-scale randomly distributed array of terrestrial devices, combined with machine learning algorithm, we present the Dynamic Deployment based on K-means (DDK) algorithm. Additionally, we address the non-convexity challenge in resource allocation for transmission power through variable substitution and the successive convex approximation technique (SCA). Simulation results substantiate the remarkable efficacy of our CPO algorithm, showcasing a maximum 240% improvement in the uplink transmission rate of IoRT data compared to conventional methods.

Learning-Based Multi-UAV Assisted Data Acquisition and Computation for Information Freshness in WPT Enabled Space-Air-Ground PIoT

The explosion of information data in the power Internet of Things (PIoT) poses difficulties for data acquisition and computation of power devices located in remote areas with limited computing capability and energy. Therefore, we propose a multi-unmanned aerial vehicle (UAV) assisted wireless power transmission (WPT) enabled space-air-ground PIoT framework, in which the UAVs provide energy for data acquisition of power devices through WPT, and use mobile edge computing (MEC) technology to calculate the data. Finally, they act as relays to forward the data to the low earth orbit (LEO) satellite. For keeping the data fresh, we jointly optimize the number of UAV hovering positions, the hovering positions, the connection between UAVs and power devices, the energy transmission and data acquisition time of power devices, the computing resources, flight speed and trajectories of UAVs, aiming to minimizing the average age of information (AoI) of power devices. Through theoretical derivation the problem is decoupled into five independent subproblems, which are solved using improved K-means algorithm, Lagrangian dual decomposition method, interior point method, adaptive optimization, and Q-Learning algorithm, respectively. Extensive numerical simulations demonstrate the superior properties of our solution comparing to benchmark algorithms.

Event-Triggered Interval Observer Fault Detection and Isolation for Multiagent Systems.

This article investigates an event-triggered interval observer (ETIO) fault detection and isolation method for multiagent systems. First, an event-triggered mechanism is developed to reduce unnecessary communication transmission. Then, a distributed ETIO is designed by combining an interval observer and the proposed event-triggered mechanism. Furthermore, for achieving the desired tradeoff between the robustness to disturbances and the sensitivity to faults, the ETIO is formulated as a multiobjective optimization with l1 / H∞ performance. Second, a bank of ETIOs are interpreted to isolate the faulty agent on a local agent using only the output information from itself and its neighbors. Comparison result with the existing method is given to highlight the superiority of our methodology. Finally, the multiunmanned aerial vehicles system is utilized as the case research, and specific simulation results are presented.

Formula omitted] containment control for multi-unmanned aerial vehicle systems: A self-triggered control scheme

This paper is concerned with the containment control problem for multi-unmanned aerial vehicle (multi-UAV) systems with data transmission among agents during a limited-bandwidth network. A good deal of data transmitted during a limited-bandwidth network may result in data collision, which brings negative effects on controller design and containment tracking implementation. To reduce the network load during data transmission, a consensus condition and a triggering subsidiary condition are first proposed to realize the containment tracking with H∞ performance by using the triggered states. Then a self-triggered scheme is established under a multi-agent framework, in which the next triggering instant is calculated beforehand by using the past states. Combined with the self-triggered scheme, a containment controller is obtained via solving the derived consensus condition, which ensures that follower UAVs are driven into a convex set surrounded by leader UAVs. Finally, the validity of the self-triggered containment control method is proved through a simulation experience.

B-UAVM: A Blockchain-Supported Secure Multi-UAV Task Management Scheme

The advent of unmanned aerial vehicle (UAV) swarm technology brings possibilities to help humans complete tasks in no man’s land, such as deserts, and rainforests. However, UAV network faces many cyber threats, where attackers can impersonate legitimate entities or tamper with UAV task data. For identity security, most of the existing methods use centralized authentication schemes, which have a single point of failure problem. For data security, the existing methods only secure the task data in the ground system, ignoring the data security in the air network. Therefore, the existing methods are not suitable for ubiquitous UAV scenarios. Blockchain secures data security while eliminating the single point of failure problem, and has been widely used in distributed scenarios. In this paper, to secure entity identity and task data, we propose a Blockchain-supported Secure Multi UAV Task Management Scheme (B-UAVM). Specifically, a three-layer blockchain structure is constructed to secure multi-tasks, and achieve ubiquitous control of UAV formations. Besides, six types of blocks and three types of transactions are designed to achieve safe processing and storage of task data and entity information. Furthermore, an improved Practical Byzantine Fault Tolerance (IPBFT) consensus mechanism and a UAV-formation-action-considered ground station consensus mechanism (UFAGS) are introduced in the Server Network and Ground Control Network, respectively, to accelerate the consensus. The experimental results show that the number of transactions generated per second (TPS) of B-UAVM is about 0.5× and 3.7× of the existing method when the block size or the number of blockchain nodes increases, respectively.

The methods of task pre‐allocation and reallocation for multi‐UAV cooperative reconnaissance mission

AbstractNowadays, multi unmanned aerial vehicle (multi‐UAV) systems have been widely used in battlefield. The rationality of mission plan can directly affect the effectiveness of multi‐UAV system. The existing multi‐UAV task allocation model lack a comprehensive modelling of task pre‐allocation and task reallocation issues. However, in actual task execution, task pre‐allocation and task reallocation are a holistic problem. Therefore, based on the background of multi‐UAV cooperative reconnaissance, the authors establish a multi‐UAV cooperative reconnaissance task pre‐allocation and reallocation model (MCRTPR). There are two kinds of task allocation in MCRTPR model. One is task pre‐allocation, which is a static task allocation before the mission begin. Another is task reallocation, that is a dynamic task allocation during the mission. For task pre‐allocation, a particle swarm optimisation algorithm based on experience pool (EPPSO) is proposed. And for task reallocation, the authors design a partial task reallocation algorithm based on contract network protocol (CNP‐PTR). The experimental results show that, compared with some state‐of‐the‐art algorithms, EPPSO can get the lowest fitness value under various experimental conditions, and CNP‐PTR is able to handle task reallocation problem caused by multiple kinds of dynamic events.

Decomposition-based learning in drone-assisted wireless-powered mobile edge computing networks

This paper investigates the multi-Unmanned Aerial Vehicle (UAV)-assisted wireless-powered Mobile Edge Computing (MEC) system, where UAVs provide computation and powering services to mobile terminals. We aim to maximize the number of completed computation tasks by jointly optimizing the offloading decisions of all terminals and the trajectory planning of all UAVs. The action space of the system is extremely large and grows exponentially with the number of UAVs. In this case, single-agent learning will require an overlarge neural network, resulting in insufficient exploration. However, the offloading decisions and trajectory planning are two subproblems performed by different executants, providing an opportunity for problem-solving. We thus adopt the idea of decomposition and propose a 2-Tiered Multi-agent Soft Actor-Critic (2T-MSAC) algorithm, decomposing a single neural network into multiple small-scale networks. In the first tier, a single agent is used for offloading decisions, and an online pretrained model based on imitation learning is specially designed to accelerate the training process of this agent. In the second tier, UAVs utilize multiple agents to plan their trajectories. Each agent exerts its influence on the parameter update of other agents through actions and rewards, thereby achieving joint optimization. Simulation results demonstrate that the proposed algorithm can be applied to scenarios with various location distributions of terminals, outperforming existing benchmarks that perform well only in specific scenarios. In particular, 2T-MSAC increases the number of completed tasks by 45.5% in the scenario with uneven terminal distributions. Moreover, the pretrained model based on imitation learning reduces the convergence time of 2T-MSAC by 58.2%.

Multi-UAV Data Collection and Path Planning Method for Large-Scale Terminal Access.

In the context of the relentless evolution of network and communication technologies, the need for enhanced communication content and quality continues to escalate. Addressing the demands of data collection from the abundance of terminals within Internet of Things (IoT) scenarios, this paper presents an advanced approach to multi-Unmanned Aerial Vehicle (UAV) data collection and path planning tailored for extensive terminal accessibility. This paper focuses on optimizing the complex interplay between task completion time and task volume equilibrium. To this end, a novel strategy is devised that integrates sensor area partitioning and flight trajectory planning for multiple UAVs, forming an optimization framework geared towards minimizing task completion duration. The core idea of this work involves designing an innovative k-means algorithm capable of balancing data quantities within each cluster, thereby achieving balanced sensor node partitioning based on data volume. Then, the UAV flight trajectory paths are discretely modeled, and a grouped, improved genetic algorithm is used to solve the Multiple Traveling Salesman Problem (MTSP). The algorithm introduces a 2-opt optimization operator to improve the computational efficiency of the genetic algorithm. Empirical validation through comprehensive simulations clearly underscores the efficacy of the proposed approach. In particular, the method demonstrates a remarkable capacity to rectify the historical issue of diverse task volumes among multiple UAVs, all the while significantly reducing task completion times. Moreover, its convergence rate substantially outperforms that of the conventional genetic algorithm, attesting to its computational efficiency. This paper contributes an innovative and efficient paradigm to improve the problem of data collection from IoT terminals through the use of multiple UAVs. As a result, it not only augments the efficiency and balance of task distribution but also showcases the potential of tailored algorithm solutions for realizing optimal outcomes in complex engineering scenarios.

Three-Dimensional Trajectory and Resource Allocation Optimization in Multi-Unmanned Aerial Vehicle Multicast System: A Multi-Agent Reinforcement Learning Method

Unmanned aerial vehicles (UAVs) are able to act as movable aerial base stations to enhance wireless coverage for edge users with poor ground communication quality. However, in urban environments, the link between UAVs and ground users can be blocked by obstacles, especially when complicated terrestrial infrastructures increase the probability of non-line-of-sight (NLoS) links. In this paper, in order to improve the average throughput, we propose a multi-UAV multicast system, where a multi-agent reinforcement learning method is utilized to help UAVs determine the optimal altitude and trajectory. Intelligent reflective surfaces (IRSs) are also employed to reflect signals to solve the blocking problem. Furthermore, since the UAV’s onboard power is limited, this paper aims to minimize the UAVs’ energy consumption and maximize the transmission rate for edge users by jointly optimizing the UAVs’ 3D trajectory and transmit power. Firstly, we deduce the channel capacity of ground users in different multicast groups. Subsequently, the K-medoids algorithm is utilized for the multicast grouping problem of edge users based on transmission rate requirements. Then, we employ the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithm to learn an optimal solution and eliminate the non-stationarity of multi-agent training. Finally, the simulation results show that the proposed system can increase the average throughput by 14% approximately compared to the non-grouping system, and the MADDPG algorithm can achieve a 20% improvement in reducing the energy consumption of UAVs compared to traditional deep reinforcement learning (DRL) methods.

Co-Evolutionary Algorithm-Based Multi-Unmanned Aerial Vehicle Cooperative Path Planning

Multi-UAV cooperative path planning is a key technology to carry out multi-UAV tasks, and its research has important practical significance. A multi-UAV cooperative path is a combination of single-UAV paths, so the idea of problem decomposition is effective to deal with multi-UAV cooperative path planning. With this analysis, a multi-UAV cooperative path planning algorithm based on co-evolution optimization was proposed in this paper. Firstly, by analyzing the meaning of multi-UAV cooperative flight, the optimization model of multi-UAV cooperative path planning was given. Secondly, we designed the cost function of multiple UAVs with the penalty function method to deal with multiple constraints and designed two information-sharing strategies to deal with the combination path search between multiple UAVs. The two information-sharing strategies were called the optimal individual selection strategy and the mixed selection strategy. The new cooperative path planning algorithm was presented by combining the above designation and co-evolution algorithm. Finally, the proposed algorithm is applied to a rendezvous task in complex environments and compared with two evolutionary algorithms. The experimental results show that the proposed algorithm can effectively cope with the multi-UAV cooperative path planning problem in complex environments.