Optimal Unmanned Aerial Vehicle Trajectory Research Articles

Clustering based strategic 3D deployment and trajectory optimization of UAVs with A-star algorithm for enhanced disaster response

A broad spectrum of communication and information technologies is currently being investigated for their potential applications in disaster management. A high level of situational awareness, combined with a prompt and accurate response, is essential for the preservation of life during catastrophe scenarios. This study presents a novel communication strategy employing Unmanned Aerial Vehicles (UAVs) as aerial base stations for providing connectivity to the affected area. The system takes advantage of the flexibility and quick deployment characteristics of UAVs. The main focus is to determine the optimal UAV deployment along with trajectory planning to ensure connectivity in areas where conventional base stations are inaccessible. The proposed system employs two types of UAVs: cluster UAVs which act as stationary base stations and relay UAVs acting as mobile base stations. A three-step strategy is proposed to find the suitable location of cluster UAVs, optimize their height and power, and find the optimal trajectory of the relay UAVs to maximize the percentage of users served. Gaussian Mixture Model (GMM) clustering is employed to determine the optimal horizontal location of cluster UAVs. An optimization problem is framed for finding out the optimal height and power for cluster UAVs. Heuristic-based A-star algorithm is used to find out the trajectory of the relay UAVs which can efficiently minimize the overall path length while avoiding obstacles. The simulation results confirm the effectiveness of the proposed approach and demonstrate the performance enhancement by comparing it with the benchmark schemes.

Deep Reinforcement Learning for UAV-Based SDWSN Data Collection

Recent advancements in Unmanned Aerial Vehicle (UAV) technology have made them effective platforms for data capture in applications like environmental monitoring. UAVs, acting as mobile data ferries, can significantly improve ground network performance by involving ground network representatives in data collection. These representatives communicate opportunistically with accessible UAVs. Emerging technologies such as Software Defined Wireless Sensor Networks (SDWSN), wherein the role/function of sensor nodes is defined via software, can offer a flexible operation for UAV data-gathering approaches. In this paper, we introduce the “UAV Fuzzy Travel Path”, a novel approach that utilizes Deep Reinforcement Learning (DRL) algorithms, which is a subfield of machine learning, for optimal UAV trajectory planning. The approach also involves the integration between UAV and SDWSN wherein nodes acting as gateways (GWs) receive data from the flexibly formulated group members via software definition. A UAV is then dispatched to capture data from GWs along a planned trajectory within a fuzzy span. Our dual objectives are to minimize the total energy consumption of the UAV system during each data collection round and to enhance the communication bit rate on the UAV-Ground connectivity. We formulate this problem as a constrained combinatorial optimization problem, jointly planning the UAV path with improved communication performance. To tackle the NP-hard nature of this problem, we propose a novel DRL technique based on Deep Q-Learning. By learning from UAV path policy experiences, our approach efficiently reduces energy consumption while maximizing packet delivery.

Kinodynamic Model-Based UAV Trajectory Optimization for Wireless Communication Support of Internet of Vehicles in Smart Cities

Unmanned aerial vehicles (UAVs) are utilized for wireless communication support of Internet of Intelligent Vehicles (IoVs). Intelligent vehicles (IVs) need vehicle-to-vehicle (V2V) and vehicle-to-everything (V2X) wireless communication for real-time perception knowledge exchange and dynamic environment modeling for safe autonomous driving and mission accomplishment. UAVs autonomously navigate through dense urban areas to provide aerial line-of-sight (LoS) communication links for IoVs. Real-time UAV trajectory design is required for minimum energy consumption and maximum channel performance. However, this is multidisciplinary research including (1) dynamic-aware kinematic (kinodynamic) planning by considering UAVs’ motion and nonholonomic constraints; (2) channel modeling and channel performance improvement in future wireless networks (i.e., beyond 5G and 6G) that are limited to beamforming to LoS links with the aid of reconfigurable intelligent surfaces (RISs); and (3) real-time obstacle-free crash avoidance 3D trajectory optimization in dense urban areas by modeling obstacles and LoS paths in convex programming. Modeling and solving this multilateral problem in real-time are computationally prohibitive unless extensive computational and overhead processing costs are imposed. To pave the path for computationally efficient yet feasible real-time trajectory optimization, this paper presents UAV kinodynamic modeling. Then, it proposes a convex trajectory optimization problem with the developed linear kinodynamic models. The optimality and smoothness of the trajectory optimization problem are improved by utilizing model predictive control and quadratic state feedback control. Simulation results are provided to validate the methodology.

Multi-UAV Assisted Air–Ground Collaborative MEC System: DRL-Based Joint Task Offloading and Resource Allocation and 3D UAV Trajectory Optimization

In disaster-stricken areas that were severely damaged by earthquakes, typhoons, floods, mudslides, and the like, employing unmanned aerial vehicles (UAVs) as airborne base stations for mobile edge computing (MEC) constitutes an effective solution. Concerning this, we investigate a 3D air–ground collaborative MEC scenario facilitated by multi-UAV for multiple ground devices (GDs). Specifically, we first design a 3D multi-UAV-assisted air–ground cooperative MEC system, and construct system communication, computation, and UAV flight energy consumption models. Subsequently, a cooperative resource optimization (CRO) problem is proposed by jointly optimizing task offloading, UAV flight trajectories, and edge computing resource allocation to minimize the total energy consumption of the system. Further, the CRO problem is decoupled into two sub-problems. Among them, the MATD3 deep reinforcement learning algorithm is utilized to jointly optimize the offloading decisions of GDs and the flight trajectories of UAVs; subsequently, the optimal resource allocation scheme at the edge is demonstrated through the derivation of KKT conditions. Finally, the simulation results show that the algorithm has good convergence compared with other algorithms and can effectively reduce the system energy consumption.

Edge-Intelligence-Powered Joint Computation Offloading and Unmanned Aerial Vehicle Trajectory Optimization Strategy

UAV-based air-ground integrated networks offer a significant benefit in terms of providing ubiquitous communications and computing services for Internet of Things (IoT) devices. With the empowerment of edge intelligence (EI) technology, they can efficiently deploy various intelligent IoT applications. However, the trajectory of UAVs can significantly affect the quality of service (QoS) and resource optimization decisions. Joint computation offloading and UAV trajectory optimization bring many challenges, including coupled decision variables, information uncertainty, and long-term queue delay constraints. Therefore, this paper introduces an air-ground integrated architecture with EI and proposes a TD3-based joint computation offloading and UAV trajectory optimization (TCOTO) algorithm. Specifically, we use the principle of the TD3 algorithm to transform the original problem into a cumulative reward maximization problem in deep reinforcement learning (DRL) to obtain the UAV trajectory and offloading strategy. Additionally, the Lyapunov framework is used to convert the original long-term optimization problem into a deterministic short-term time-slot problem to ensure the long-term stability of the UAV queue. Based on the simulation results, it can be concluded that our novel TD3-based algorithm effectively solves the joint computation offloading and UAV trajectory optimization problems. The proposed algorithm improves the performance of the system energy efficiency by 3.77%, 22.90%, and 67.62%, respectively, compared to the other three benchmark schemes.

User Scheduling and Path Planning for Reconfigurable Intelligent Surface Assisted MISO UAV Communication

The high mobility of unmanned aerial vehicles (UAVs) enables them to improve system throughput by establishing line-of-sight (LoS) links. Nevertheless, in urban environments, these LoS links can be disrupted by complex urban structures, leading to potential interference issues. Reconfigurable intelligent surfaces (RIS) provide an innovative approach to enhance communication performance by intelligently reflecting incident signals. Recent studies suggest that utilizing multi-antenna transmission can increase system efficiency, while single-antenna transmission may be more prone to interference. To address these challenges, this article introduces a RIS-assisted multiple-input single-output (MISO) UAV communication system. Our objective is to optimize the minimum user rate, thereby guaranteeing equitable communication for all users. Nevertheless, the non-convexity inherent in this optimization problem complicates the pursuit of a direct solution. Hence, we decompose the problem into four subproblems: user scheduling optimization, RIS phase-shift optimization, UAV trajectory optimization, and UAV transmit beamforming optimization. To obtain suboptimal solutions, we have developed an alternating iterative optimization algorithm for addressing the four subproblems. Numerical results demonstrate that our algorithm effectively boosts the minimum user rate of the entire system.

Multi-IRSs enhanced UAV secure semantic communication system

This paper delves into a unmanned aerial vehicle (UAV) semantic communication system featuring multiple intelligent reflecting surfaces (IRSs). The UAV transmits semantic symbols to users in the presence of eavesdropping, and thus has inevitable security problems. In order to measure secure communication performance in semantic communication, the security semantic transmission rate (SSR) based on the semantic similarity is employed. An optimization problem is formulated to enhance the average SSR by optimizing UAV trajectory, IRS reflecting coefficients, number of semantic symbols, and transmission power, while satisfying position, speed, anti-collision, and power constraints. Due to the highly dynamic nature of the environment and the difficulties in solving complex modeling problems, a novel approach based on hybrid soft actor–critic (H-SAC) deep reinforcement learning (DRL) is proposed to address this non-convex optimization problem. The algorithm addresses the challenge of dynamic environments in UAV scenarios by seamlessly accommodating both discrete and continuous action spaces such as the trajectory and the IRS reflecting coefficient within the network. This enables effective processing of actions taken by intelligent agents, ensuring adaptability to the diverse requirements of the environment without the need for separate handling mechanisms. Simulation results show that the proposed intelligent algorithm exhibits excellent convergence and achieves a well-balanced pairing of appropriate IRSs and selection of flight paths, significantly improving the average SSR of the system. Specifically, our proposed scheme enhances the secure semantic transfer rate by more than fifty percent compared to when the number of semantic symbols is fixed at two.

Constrained trajectory optimization and force control for UAVs with universal jamming grippers

This study presents a novel framework that integrates the universal jamming gripper (UG) with unmanned aerial vehicles (UAVs) to enable automated grasping with no human operator in the loop. Grounded in the principles of granular jamming, the UG exhibits remarkable adaptability and proficiency, navigating the complexities of soft aerial grasping with enhanced robustness and versatility. Central to this integration is a uniquely formulated constrained trajectory optimization using model predictive control, coupled with a robust force control strategy, increasing the level of automation and operational reliability in aerial grasping. This control structure, while simple, is a powerful tool for various applications, ranging from material handling to disaster response, and marks an advancement toward genuine autonomy in aerial manipulation tasks. The key contribution of this research is the combination of a UG with a suitable control strategy, that can be kept relatively straightforward thanks to the mechanical intelligence built into the UG. The algorithm is validated through numerical simulations and virtual experiments.

Delanalty Minimization With Reinforcement Learning in UAV-Aided Mobile Network

Unmanned aerial vehicle (UAV)-assisted mobile communication has been studied in recent years. UAVs can be used as aerial base stations (BSs) to improve the performance of terrestrial mobile network. In this article, mobile data offloading with UAV trajectory optimization is investigated. To tackle with the delay of requesting data and the immediacy of requested data at the same time, a new metric named delanalty is newly proposed. The delanalty metric jointly considers the delay of user requesting data, the immediacy of requested data file, and the quantity of residual requesting data. A find max delanalty user mechanism is proposed to eliminate the user who has the largest delay time. Furthermore, an actor–critic (AC)-based deep reinforcement learning (DRL) algorithm called AC -based delanalty trajectory optimization (ACDTO) algorithm is proposed to solve UAV’s trajectory optimization problem. Simulation results show that the proposed ACDTO algorithm can find an optimal flight trajectory with minimal delanalty for all users.

ISAC-enable mobility-aware multi-UAV placement for ultra-dense networks

This paper proposes a method for characterizing user mobility levels in multiple unmanned aerial vehicles (UAV)-assisted networks. In a dynamic environment with varying degrees of mobile ground users, optimizing the placement of UAVs is important in improving network throughput. Moreover, for integrated sensing and communication (ISAC) enabled UAVs, the resource allocation for sensing and communication relies on the dynamic nature of the network environment. To keep track of the changes in the environment UAVs are required to continuously update their trajectory, hence, characterizing the users’ mobility level is an important tool to improve the UAV trajectory optimization. In this paper, a mobility-aware resource allocation for joint sensing and communication is proposed. Our results demonstrate that the proposed algorithm can improve the resource allocation between sensing and communication in an ISAC-enabled UAV-assisted network.

Optimization of Clustering and Trajectory for Minimizing Age of Information in Unmanned Aerial Vehicle-Assisted Mobile Edge Computing Network.

With the development of the Internet of Things (IoT) technology, massive amounts of sensor data in applications such as fire monitoring need to be transmitted to edge servers for timely processing. However, there is an energy-hole phenomenon in transmitting data only through terrestrial multi-hop networks. In this study, we focus on the data collection task in an unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) network, where a UAV is deployed as the mobile data collector for the ground sensor nodes (SNs) to ensure high information freshness. Meanwhile, the UAV is equipped with an edge server for data caching. We first establish a rigorous mathematical model in which the age of information (AoI) is used as a measure of information freshness, related to both the data collection time and the UAV's flight time. Then a mixed-integer non-convex optimization problem is formulated to minimize the peak AoI of the collected data. To solve the problem efficiently, we propose an iterative two-step algorithm named the AoI-minimized association and trajectory planning (AoI-MATP) algorithm. In each iteration, the optimal SN-collection point (CP) associations and CP locations for the parameter ε are first obtained by the affinity propagation clustering algorithm. The optimal UAV trajectory is found using an improved elite genetic algorithm. Simulation results show that based on the optimized ε, the AoI-MATP algorithm can achieve a balance between data collection time and flight time, reducing the peak AoI of the collected data.

Minimizing the searching time of multiple targets in uncertain environments with multiple UAVs

The focus of this paper is the use of Unmanned Aerial Vehicles (UAVs) for searching multiple targets under uncertain conditions in the minimal possible time. The problem, known as Minimum Time Search (MTS), belongs to the Probabilistic Search (PS) field and addresses critical missions, such as search & rescue, and military surveillance. These operations, characterized by complex and uncertain environments, demand efficient UAV trajectory optimization. The multi-target version of PS introduces additional challenges, due to their higher complexity and the need to wisely distribute the UAV’s efforts among multiple targets. In order to tackle the under-explored multi-target aspect of MTS, we optimize the time to find all targets with new Ant Colony Optimization (ACO)-based planner. This novel optimization criterion is formulated using Bayes’ theory, considering probability models of the targets (initial belief and motion model) and the sensor likelihood. Our work contributes significantly by (i) developing an objective function tailored for multi-target MTS, (ii) proposing an ACO-based planner designed to effectively handle the complexities of multiple moving targets, and (iii) introducing a novel constructive heuristic that is used by the ACO-based planner, specifically designed for the multi-target MTS problem. The efficacy of our approach is demonstrated through comprehensive analysis and validation across various scenarios, showing superior performance over existing methods in complex multi-target MTS problems.

3D Trajectory Optimization for Multimission UAVs in Smart City Scenarios

There is a definite possibility that, in a recent future, Unmanned Aerial Vehicles (UAVs) will form the backbone of any smart city in terms of automation and networking. One approach to extend the UAVs' resources spectrum is to provide a mean for them to opportunistically recharge and connect to otherwise unreachable networks: provide Training and Recharge Areas (TRAs). In these dedicated areas, the UAVs could dock to Energy and Data Dispensers (EDD) devices to resupply their batteries and exploit a high-speed connection. To autonomously move through the smart city while accomplishing a set of given tasks but, at the same time, consider visiting the EDDs, is part of a tridimensional trajectory planning problem that needs to be addressed. In this paper, we formally define the combinatorial optimization problem representing the trajectory planning. We consider the case in which more than one UAV can be connected with the same EDD at the same time, by properly addressing the assignment of the bandwidth. Through simulative investigation, realistic values for the solution of the optimization problem are found. The behavior of the proposed model is compared with an ”online” approach that does not require the same resources and knowledge and whose evaluation and comparison with the ”offline” approach are performed through network simulation.

Enhancing UAV Path Planning Efficiency through Adam-Optimized Deep Neural Networks for Area Coverage Missions

Efficient Unmanned Aerial Vehicle (UAV) trajectory generation is crucial for successful area coverage missions, aiming to maximize coverage while minimizing resource consumption. In this research, we present a comprehensive study on optimizing UAV trajectory generation using Deep Neural Networks (DNNs) with the Adam optimization algorithm. The DNNs are trained on historical data to produce smooth and continuous trajectories, thereby reducing abrupt changes in direction and enhancing overall efficiency during the mission. To evaluate the performance of the proposed approach, we conducted experiments comparing different activation functions, namely tanh, sigmoid, and ReLU, with the Adam-optimized DNN model. The trajectories generated by each activation function were analyzed using key metrics, including Mean Squared Error (MSE), Mean Absolute Error (MAE), Root Mean Squared Error (RMSE), and R-squared (R2) scores for both X and Y coordinates. The results of the comparative analysis revealed that the DNN model with the Adam optimizer exhibited superior performance over the other activation functions. It achieved lower MSE, MAE, and RMSE values, indicating better trajectory accuracy and smoother paths. Additionally, the R2 scores demonstrated a higher correlation between the generated trajectories and the actual trajectories, highlighting the model's ability to capture underlying patterns effectively. The findings underscore the significance of leveraging the Adam-optimized DNN approach for UAV trajectory planning, offering promising opportunities for resource optimization, increased mission success, and further advancements in autonomous aerial systems. This research contributes to the ongoing efforts in UAV path planning, optimization, and intelligent control strategies, paving the way for enhanced autonomous systems in various real-world applications.

Research on weighted energy consumption and delay optimization algorithm based on dual‐queue model

AbstractThis article investigates a mobile edge computing (MEC) network assisted by multiple unmanned aerial vehicles (UAVs) to address the computational and offloading requirements for mobile intelligent terminals (MITs) within crowded venues. The objective is to tackle intricate task processing and diminish MITs' waiting times. Considering the randomness of task arrival at the MITs and the imbalance between the amount of data and computation for complex tasks, a dual‐queue model with data cache queue and computation queue is proposed, with minimizing the weighted system total energy consumption and average delay as the optimization objectives. Lyapunov optimization theory is employed to convert the stochastic optimization problem into a deterministic one, and the initial deployment quantity and hovering position of the UAVs are determined by the density‐based spatial clustering of applications with noise (DBSCAN) method with noise. Then PPO algorithm for MIT task, resource allocation, and UAV trajectory optimization. Numerical results display the proposed scheme can efficaciously diminish energy consumption and delay by 10% and 33% respectively, compared with the baseline scheme. This paper proposes a practical and feasible solution for stochastic computing offloading in UAV‐assisted MEC, which fills the gap in existing research on regarding the consideration of complex task imbalances.

Physical layer security‐oriented energy‐efficient resource allocation and trajectory design for UAV jammer over 5G millimeter wave cognitive relay system

AbstractThis work focuses on the optimal trajectory of a rotary‐wing unmanned aerial vehicle (UAV) jammer and the system power allocation with the objective of maximizing the total secure energy efficiency (EE) of a slotted relay‐assisted millimeter wave (mm‐Wave) cognitive radio system. The UAV flies from starting location to final one in a round of communication mission that is overheard by a malicious eavesdropper. The network terminals are equipped with multiple‐input multiple‐output (MIMO) antenna array. This work first develops a practical approximation propagation model by addressing three key challenges: path loss, small‐scale Nakagami‐m fading channel gains, and transceiver antenna beamforming gains. By using the approximate model, the upper and lower bounds of the ergodic rate of each communication link are derived. Second, with the objective of maximizing secure EE, the optimal UAV trajectory and system resource allocation framework is established by considering the constraints of interference at primary receiver (PR), information‐causality relationship, rotary‐wing UAV propulsion energy and so forth. The optimal framework is solved with a tractable CVX tool by using the derived upper and lower bounds and successive convex approximation. Finally, an iterative optimizing algorithm is established by using Dinkelbach's method. In the simulation, the work presents the comparison of UAV trajectories, secure rates, and secure EEs of three schemes, that is, the proposed EE scheme, the non‐EE scheme where only the optimal secure rate is considered, and the EE scheme with the consideration of all communication‐related energy consumption. The simulations show that the EE schemes achieve smoother UAV trajectory than non‐EE, but the non‐EE scheme has higher secure rate. The impact of communication energy consumption is negligible. In addition, the effect of MIMO antenna array and mm‐Wave on system performance is exploited.

UAV Trajectory and Multi-User Beamforming Optimization for Clustered Users Against Passive Eavesdropping Attacks With Unknown CSI

This paper tackles the fundamental passive eavesdropping problem in modern wireless communications in which the location and the channel state information (CSI) of the attackers are unknown. In this regard, we propose deploying an unmanned aerial vehicle (UAV) that serves as a mobile aerial relay (AR) to help ground base station (GBS) support a subset of vulnerable users. More precisely, our solution (1) clusters the single-antenna users in two groups to be either served by the GBS directly or via the AR, (2) employs optimal multi-user beamforming to the directly served users, and (3) optimizes the AR's 3D position, its multi-user beamforming matrix and transmit powers by combining closed-form solutions with machine learning techniques. Specifically, we design a plain beamforming and power optimization combined with a deep reinforcement learning (DRL) algorithm for an AR to optimize its trajectory for the security maximization of the served users. Numerical results show that the multi-user multiple input, single output (MU-MISO) system split between a GBS and an AR with optimized transmission parameters without knowledge of the eavesdropping channels achieves high secrecy capacities that scale well with increasing the number of users.

Trajectory and Phase Shift Optimization for RIS-Equipped UAV in FSO Communications with Atmospheric and Pointing Error Loss

This paper proposes a new framework for reconfigurable intelligent surface (RIS)-equipped unmanned aerial vehicles (UAVs) in free-space optical (FSO) communication. To ensure practicality, we consider atmospheric loss caused by fog, which leads to an inhomogeneous medium for laser propagation. In addition, we incorporate the pointing error loss caused by the power fraction on the photodetector (PD) into the system and derive a closed-form expression for the elliptical beam footprint in the pointing error loss. We then propose a leading angle assisted particle swarm optimization (PSO) method to efficiently optimize the numerical results of pointing error loss. Furthermore, after obtaining these numerical results as a precondition, the UAV trajectory is optimized using the proximal policy optimization (PPO) method to achieve the maximum average capacity. Numerical simulations demonstrate that the proposed optimization method achieves greater efficiency and accuracy compared to the decode-and-forward (DF) relay and deep Q-learning (DQN) methods.

Sensing Fairness-Based Energy Efficiency Optimization for UAV Enabled Integrated Sensing and Communication

Integrated sensing and communication (ISAC) is developing rapidly due to the advantages of bandwidth saving, hardware cost reduction and energy saving. This paper proposes a unmanned aerial vehicle (UAV) enabled ISAC (UAV-ISAC) system, where the UAV will sense ground users and forward sensed information to base station (BS). Radar mutual information (MI) is introduced to measure the UAV sensing performance. On the basis of sensing fairness for each user, a multi-objective resource optimization problem of maximizing both energy efficiency (EE) and minimum radar MI is studied by jointly optimizing user scheduling, transmit power and UAV trajectory. To solve the non-convex optimization problem, we decompose it into three sub-problems: user scheduling optimization, transmit power optimization, and UAV trajectory optimization. Each subproblem can be solved by successive convex approximation (SCA), fractional programming and relaxation technique. By iteratively optimizing the three sub-problems, we can obtain the suboptimal solution to original optimization problem. Simulation results show that the proposed optimization scheme can maximize the EE of UAV while ensuring sensing fairness for all users.

Energy-Efficiency Optimization for Multiple Access in NOMA-Enabled Space–Air–Ground Networks

Due to the flexible deployment of unmanned aerial vehicles (UAVs) and the wide-area coverage of satellites, the space-air-ground (SAG) communication network can provide flexible and pervasive connectivity, especially in remote areas. In this work, we investigate the uplink transmission in a SAG network, where the non-orthogonal multiple access mechanism is adopted at the UAVs to enhance the number of access from ground user equipments (UEs) and a low earth orbit satellite offers the wireless backhaul for UAVs. In particular, the energy efficiency (EE) of the considered network is maximized by optimizing the user association (UA), the power allocation (PA), and the UAV 3D trajectory jointly with the consideration of the movement of the satellite. To tackle the formulated problem, by leveraging the block coordinate descent (BCD) method, we develop a joint UA, PA, and UAV trajectory (namely, JUPT) optimization algorithm, i.e., the original problem is decomposed into three subproblems, and the subproblems are solved iteratively until convergence. Specifically, we propose to include the virtual UEs in the system and develop a low-complexity matching algorithm to effectively solve the UA problem. A successive convex approximation (SCA)-based Dinkelbach algorithm is then adopted to address the PA problem. Later, with the introduction of the auxiliary variables, the UAV 3D trajectory subproblem is iteratively solved by the SCA method. Our numerical results demonstrate the superiority of the proposed JUPT algorithm, which obtains significantly higher EE compared to the benchmark schemes. Moreover, the rapid convergence of the JUPT algorithm is verified.