Unmanned Aerial Vehicles Task Research Articles

Hierarchical Federated Deep Reinforcement Learning based Joint Communication and Computation for UAV Situation Awareness

The computation-intensive situational awareness (SA) task of unmanned aerial vehicle (UAV) is greatly affected by its limited power and computing capability. To solve this challenge, we consider the joint communication and computation (JCC) design for UAV network in this paper. Firstly, a multi-objective optimization (MOO) model, which can optimize UAV computation offloading, transmit power, and local computation resources simultaneously, is built to minimize energy consumption and task execution delay. Then, we develop Thompson sampling based double-DQN (TDDQN) learning algorithm which allows the agent to explore more deeply and effectively, and propose a joint optimization algorithm that combines TDDQN and sequential least squares quadratic programming (SLSQP) to handle the MOO problem. Finally, to enhance the training speed and quality, we incorporate federated learning (FL) into the presented joint optimization algorithm and propose hierarchical federated TDDQN with SLSQP (HF TDDQN-S) to implement the JCC design. Simulation results show that the introduced HF TDDQN-S can efficiently learn the best JCC strategy and minimize the average cost contrasted with the DDQN with SLSQP (DDQN-S) and TDDQN with SLSPQ (TDDQN-S) approach, and achieve the low average delay SA with power efficient.

Urban Air Logistics with Unmanned Aerial Vehicles (UAVs): Double-Chromosome Genetic Task Scheduling with Safe Route Planning

In an efficient aerial package delivery scenario carried out by multiple Unmanned Aerial Vehicles (UAVs), a task allocation problem has to be formulated and solved in order to select the most suitable assignment for each delivery task. This paper presents the development methodology of an evolutionary-based optimization framework designed to tackle a specific formulation of a Drone Delivery Problem (DDP) with charging hubs. The proposed evolutionary-based optimization framework is based on a double-chromosome task encoding logic. The goal of the algorithm is to find optimal (and feasible) UAV task assignments such that (i) the tasks’ due dates are met, (ii) an energy consumption model is minimized, (iii) re-charge tasks are allocated to ensure service persistency, (iv) risk-aware flyable paths are included in the paradigm. Hard and soft constraints are defined such that the optimizer can also tackle very demanding instances of the DDP, such as tens of package delivery tasks with random temporal deadlines. Simulation results show how the algorithm’s development methodology influences the capability of the UAVs to be assigned to different tasks with different temporal constraints. Monte Carlo simulations corroborate the results for two different realistic scenarios in the city of Turin, Italy.

Enhancing Unmanned Aerial Vehicle Task Assignment with the Adaptive Sampling-Based Task Rationality Review Algorithm

As the application areas of unmanned aerial vehicles (UAVs) continue to expand, the importance of UAV task allocation becomes increasingly evident. A highly effective and efficient UAV task assignment method can significantly enhance the quality of task completion. However, traditional heuristic algorithms often perform poorly in complex and dynamic environments, and existing auction-based algorithms typically fail to ensure optimal assignment results. Therefore, this paper proposes a more rigorous and comprehensive mathematical model for UAV task assignment. By introducing task path decision variables, we achieve a mathematical description of UAV task paths and propose collaborative action constraints. To balance the benefits and efficiency of task assignment, we introduce a novel method: the Adaptive Sampling-Based Task Rationality Review Algorithm (ASTRRA). In the ASTRRA, to address the issue of high-value tasks being easily overlooked when the sampling probability decreases, we propose an adaptive sampling strategy. This strategy increases the sampling probability of high-value targets, ensuring a balance between computational efficiency and maximizing task value. To handle the coherence issues in UAV task paths, we propose a task review and classification method. This method involves reviewing issues in UAV task paths and conducting classified independent auctions, thereby improving the overall task assignment value. Additionally, to resolve the crossover problems between UAV task paths, we introduce a crossover path exchange strategy, further optimizing the task assignment scheme and enhancing the overall value. Experimental results demonstrate that the ASTRRA exhibits excellent performance across various task scales and dynamic scenarios, showing strong robustness and effectively improving task assignment outcomes.

Gaze Sharing, a Double-Edged Sword: Examining the Effect of Real-Time Gaze Sharing Visualizations on Team Performance and Situation Awareness.

The goal of this study was to assess how different real-time gaze sharing visualization techniques affect eye tracking metrics, workload, team situation awareness (TSA), and team performance. Gaze sharing is a real-time visualization technique that allows teams to know where their team members are looking on a shared display. Gaze sharing visualization techniques are a promising means to improve collaborative performance on simple tasks; however, there needs to be validation of gaze sharing with more complex and dynamic tasks. This study evaluated the effect of gaze sharing on eye tracking metrics, workload, team SA, and team performance in a simulated unmanned aerial vehicle (UAV) command-and-control task. Thirty-five teams of two performed UAV tasks under three conditions: one with no gaze sharing and two with gaze sharing. Gaze sharing was presented using a fixation dot (i.e., a translucent colored dot) and a fixation trail (i.e., a trail of the most recent fixations). The results showed that the fixation trail significantly reduced saccadic activity, lowered workload, supported team SA at all levels, and improved performance compared to no gaze sharing; however, the fixation dot had the opposite effect on performance and SA. In fact, having no gaze sharing outperformed the fixation dot. Participants also preferred the fixation trail for its visibility and ability to track and monitor the history of their partner's gaze. The results showed that gaze sharing has the potential to support collaboration, but its effectiveness depends highly on the design and context of use. The findings suggest that gaze sharing visualization techniques, like the fixation trail, have the potential to improve teamwork in complex UAV tasks and could have broader applicability in a variety of collaborative settings.

Adaptive Aberrance Repressed Correlation Filters with Cooperative Optimization in High-Dimensional Unmanned Aerial Vehicle Task Allocation and Trajectory Planning

In the rapidly evolving field of unmanned aerial vehicle (UAV) applications, the complexity of task planning and trajectory optimization, particularly in high-dimensional operational environments, is increasingly challenging. This study addresses these challenges by developing the Adaptive Distortion Suppression Correlation Filter Cooperative Optimization (ARCF-ICO) algorithm, designed for high-dimensional UAV task allocation and trajectory planning. The ARCF-ICO algorithm combines advanced correlation filter technologies with multi-objective optimization techniques, enhancing the precision of trajectory planning and efficiency of task allocation. By incorporating weather conditions and other environmental factors, the algorithm ensures robust performance at low altitudes. The ARCF-ICO algorithm improves UAV tracking stability and accuracy by suppressing distortions, facilitating optimal path selection and task execution. Experimental validation using the UAV123@10fps and OTB-100 datasets demonstrates that the ARCF-ICO algorithm outperforms existing methods in Area Under the Curve (AUC) and Precision metrics. Additionally, the algorithm’s consideration of battery consumption and endurance further validates its applicability to current UAV technologies. This research advances UAV mission planning and sets new standards for UAV deployment in both civilian and military applications, where adaptability and accuracy are critical.

Joint UAV Deployment and Task Offloading in Large-Cale UAV-Assisted MEC: A Multiobjective Evolutionary Algorithm

With the development of digital economy technologies, mobile edge computing (MEC) has emerged as a promising computing paradigm that provides mobile devices with closer edge computing resources. Because of high mobility, unmanned aerial vehicles (UAVs) have been extensively utilized to augment MEC to improve scalability and adaptability. However, with more UAVs or mobile devices, the search space grows exponentially, leading to the curse of dimensionality. This paper focus on the combined challenges of the deployment of UAVs and the task of offloading mobile devices in a large-scale UAV-assisted MEC. Specifically, the joint UAV deployment and task offloading problem is first modeled as a large-scale multiobjective optimization problem with the purpose of minimizing energy consumption while improving user satisfaction. Then, a large-scale UAV deployment and task offloading multiobjective optimization method based on the evolutionary algorithm, called LDOMO, is designed to address the above formulated problem. In LDOMO, a CSO-based evolutionary strategy and a MLP-based evolutionary strategy are proposed to explore solution spaces with different features for accelerating convergence and maintaining the diversity of the population, and two local search optimizers are designed to improve the quality of the solution. Finally, simulation results show that our proposed LDOMO outperforms several representative multiobjective evolutionary algorithms.

Leveraging lightweight blockchain for secure collaborative computing in UAV Ad-Hoc Networks

Unmanned Aerial Vehicle (UAV) Ad-Hoc Networks (UANET) enable collaborative work among UAVs for versatile task execution, but they face security challenges due to physical vulnerabilities, software issues, and dynamic wireless networks. This paper proposes a secure collaborative computing framework based on blockchain technology. Specifically, we first design a lightweight blockchain scheme suitable for UANET and present an improved Practical Byzantine Fault Tolerance (PBFT) consensus algorithm based on trust evaluation, aiming to reduce consensus overhead and establish trust relationships among UAVs. Furthermore, we devise a smart contract-based UAV task allocation strategy that considers both task execution efficiency and offloading security. This strategy enables UAVs to make optimal task-offloading decisions and facilitates collaborative computing according to smart contract rules. Simulation results demonstrate that our proposed consensus algorithm reduces average consensus latency by 47% and message count by 76% compared to PBFT-based algorithms. Additionally, the task allocation strategy decreases task costs by 48% compared to local computing strategies, achieving efficient and secure collaboration among UAVs in UANET. The real-world experiments with a UAV swarm further validate the efficiency and security of our framework, confirming its practical applicability in UANET.

Probabilistic Chain-Enhanced Parallel Genetic Algorithm for UAV Reconnaissance Task Assignment

With the increasing diversity and complexity of tasks assigned to unmanned aerial vehicles (UAVs), the demands on task assignment and sequencing technologies have grown significantly, particularly for large UAV tasks such as multi-target reconnaissance area surveillance. While the current exhaustive methods offer thorough solutions, they encounter substantial challenges in addressing large-scale task assignments due to their extensive computational demands. Conversely, while heuristic algorithms are capable of delivering satisfactory solutions with limited computational resources, they frequently struggle with converging on locally optimal solutions and are characterized by low iteration rates. In response to these limitations, this paper presents a novel approach: the probabilistic chain-enhanced parallel genetic algorithm (PC-EPGA). The PC-EPGA combines probabilistic chains with genetic algorithms to significantly enhance the quality of solutions. In our approach, each UAV flight is considered a Dubins vehicle, incorporating kinematic constraints. In addition, it integrates parallel genetic algorithms to improve hardware performance and processing speed. In our study, we represent task points as chromosome nodes and construct probabilistic connection chains between these nodes. This structure is specifically designed to influence the genetic algorithm’s crossover and mutation processes by taking into account both the quantity of tasks assigned to UAVs and the associated costs of inter-task flights. In addition, we propose a fitness-based adaptive crossover operator to circumvent local optima more effectively. To optimize the parameters of the PC-EPGA, Bayesian networks are utilized, which improves the efficiency of the whole parameter search process. The experimental results show that compared to the traditional heuristic algorithms, the probabilistic chain algorithm significantly improves the quality of solutions and computational efficiency.

Cooperative mapping task assignment of heterogeneous multi-UAV using an improved genetic algorithm

A ground station uses heterogeneous unmanned aerial vehicles (UAVs) with varying observation resources (primarily airborne cameras) for oblique photography based on mapping task requirements to obtain access to geographic information. In this paper, a cooperative multi-task allocation model is proposed for heterogeneous UAVs based on area segmentation to approximate real-world mapping applications. Specifically, it considers area mapping task requirements, UAV kinematics constraints, resource constraints (maximum endurance and sensor capabilities), and task number ceiling constraints; and optimises the task sequence based on the objective function that considers UAVs coverage path planning characteristics. However, a general genetic algorithm (GA) could undermine the feasibility of the solution in the population, resulting in an undesirable optimisation effect when performing genetic operations on a large-scale task allocation problem with strong coupling constraints and an obscure encoding relation. An improved double-chromosome encoding GA with a conflict-mediation mechanism is proposed to perform genetic operations on the population while meeting these constraints. The proposed GA ensures the universal excellence of population evolution while significantly improving the population optimisation and convergence performance. The simulation results show that the proposed GA has greater global search ability, stability, and speed compared with existing algorithms.

Task Offloading Strategy for Unmanned Aerial Vehicle Power Inspection Based on Deep Reinforcement Learning.

With the ongoing advancement of electric power Internet of Things (IoT), traditional power inspection methods face challenges such as low efficiency and high risk. Unmanned aerial vehicles (UAVs) have emerged as a more efficient solution for inspecting power facilities due to their high maneuverability, excellent line-of-sight communication capabilities, and strong adaptability. However, UAVs typically grapple with limited computational power and energy resources, which constrain their effectiveness in handling computationally intensive and latency-sensitive inspection tasks. In response to this issue, we propose a UAV task offloading strategy based on deep reinforcement learning (DRL), which is designed for power inspection scenarios consisting of mobile edge computing (MEC) servers and multiple UAVs. Firstly, we propose an innovative UAV-Edge server collaborative computing architecture to fully exploit the mobility of UAVs and the high-performance computing capabilities of MEC servers. Secondly, we established a computational model concerning energy consumption and task processing latency in the UAV power inspection system, enhancing our understanding of the trade-offs involved in UAV offloading strategies. Finally, we formalize the task offloading problem as a multi-objective optimization issue and simultaneously model it as a Markov Decision Process (MDP). Subsequently, we proposed a task offloading algorithm based on a Deep Deterministic Policy Gradient (OTDDPG) to obtain the optimal task offloading strategy for UAVs. The simulation results demonstrated that this approach outperforms baseline methods with significant improvements in task processing latency and energy consumption.

Autonomous Landing of Quadrotor Unmanned Aerial Vehicles Based on Multi-Level Marker and Linear Active Disturbance Reject Control.

Landing on unmanned surface vehicles (USV) autonomously is a critical task for unmanned aerial vehicles (UAV) due to complex environments. To solve this problem, an autonomous landing method is proposed based on a multi-level marker and linear active disturbance rejection control (LADRC) in this study. A specially designed landing board is placed on the USV, and ArUco codes with different scales are employed. Then, the landing marker is captured and processed by a camera mounted below the UAV body. Using the efficient perspective-n-point method, the position and attitude of the UAV are estimated and further fused by the Kalman filter, which improves the estimation accuracy and stability. On this basis, LADRC is used for UAV landing control, in which an extended state observer with adjustable bandwidth is employed to evaluate disturbance and proportional-derivative control is adopted to eliminate control error. The results of simulations and experiments demonstrate the feasibility and effectiveness of the proposed method, which provides an effective solution for the autonomous recovery of unmanned systems.

Pansharpening Low-Altitude Multispectral Images of Potato Plants Using a Generative Adversarial Network

Image preprocessing and fusion are commonly used for enhancing remote-sensing images, but the resulting images often lack useful spatial features. As the majority of research on image fusion has concentrated on the satellite domain, the image-fusion task for Unmanned Aerial Vehicle (UAV) images has received minimal attention. This study investigated an image-improvement strategy by integrating image preprocessing and fusion tasks for UAV images. The goal is to improve spatial details and avoid color distortion in fused images. Techniques such as image denoising, sharpening, and Contrast Limited Adaptive Histogram Equalization (CLAHE) were used in the preprocessing step. The unsharp mask algorithm was used for image sharpening. Wiener and total variation denoising methods were used for image denoising. The image-fusion process was conducted in two steps: (1) fusing the spectral bands into one multispectral image and (2) pansharpening the panchromatic and multispectral images using the PanColorGAN model. The effectiveness of the proposed approach was evaluated using quantitative and qualitative assessment techniques, including no-reference image quality assessment (NR-IQA) metrics. In this experiment, the unsharp mask algorithm noticeably improved the spatial details of the pansharpened images. No preprocessing algorithm dramatically improved the color quality of the enhanced images. The proposed fusion approach improved the images without importing unnecessary blurring and color distortion issues.

Multigene and Improved Anti-Collision RRT* Algorithms for Unmanned Aerial Vehicle Task Allocation and Route Planning in an Urban Air Mobility Scenario.

Compared to terrestrial transportation systems, the expansion of urban traffic into airspace can not only mitigate traffic congestion, but also foster establish eco-friendly transportation networks. Additionally, unmanned aerial vehicle (UAV) task allocation and trajectory planning are essential research topics for an Urban Air Mobility (UAM) scenario. However, heterogeneous tasks, temporary flight restriction zones, physical buildings, and environment prerequisites put forward challenges for the research. In this paper, multigene and improved anti-collision RRT* (IAC-RRT*) algorithms are proposed to address the challenge of task allocation and path planning problems in UAM scenarios by tailoring the chance of crossover and mutation. It is proved that multigene and IAC-RRT* algorithms can effectively minimize energy consumption and tasks' completion duration of UAVs. Simulation results demonstrate that the strategy of this work surpasses traditional optimization algorithms, i.e., RRT algorithm and gene algorithm, in terms of numerical stability and convergence speed.

Weather-Domain Transfer-Based Attention YOLO for Multi-Domain Insulator Defect Detection and Classification in UAV Images.

Insulator defect detection of transmission line insulators is an important task for unmanned aerial vehicle (UAV) inspection, which is of immense importance in ensuring the stable operation of transmission lines. Transmission line insulators exist in complex weather scenarios, with small and inconsistent shapes. These insulators under various weather conditions could result in low-quality images captured, limited data numbers, and imbalanced sample problems. Traditional detection methods often struggle to accurately identify defect information, resulting in missed or false detections in real-world scenarios. In this paper, we propose a weather domain synthesis network for extracting cross-modality discriminative information on multi-domain insulator defect detection and classification tasks. Firstly, we design a novel weather domain synthesis (WDSt) module to convert various weather-conditioned insulator images to the uniform weather domain to decrease the existing domain gap. To further improve the detection performance, we leverage the attention mechanism to construct the Cross-modality Information Attention YOLO (CIA-YOLO) model to improve the detection capability for insulator defects. Here, we fuse both shallow and deep feature maps by adding the extra object detection layer, increasing the accuracy for detecting small targets. The experimental results prove the proposed Cross-modality Information Attention YOLO with the weather domain synthesis algorithm can achieve superior performance in multi-domain insulator datasets (MD-Insulator). Moreover, the proposed algorithm also gives a new perspective for decreasing the multi-domain insulator modality gap with weather-domain transfer, which can inspire more researchers to focus on the field.

Autonomous localized path planning algorithm for UAVs based on TD3 strategy

Unmanned Aerial Vehicles are useful tools for many applications. However, autonomous path planning for Unmanned Aerial Vehicles in unfamiliar environments is a challenging problem when facing a series of problems such as poor consistency, high influence by the native controller of the Unmanned Aerial Vehicles. In this paper, we investigate reinforcement learning-based autonomous local path planning methods for Unmanned Aerial Vehicles with high autonomous decision-making capability and locally high portability. We propose an autonomous local path planning algorithm based on the TD3 strategy to solve the problem of local obstacle avoidance and path planning in unfamiliar environments using autonomous decision-making of Unmanned Aerial Vehicles. The simulation results on Gazebo show that our method can effectively realize the autonomous local path planning task for Unmanned Aerial Vehicles, the success rate of path planning with our method can reach 93% under the interference of no obstacles, and 92% in the environment with obstacles. Finally, our method can be used for autonomous path planning of Unmanned Aerial Vehicles in unfamiliar environments.

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.

Communication Energy Optimization of UAV-assisted WSN Data Transmission

Unmanned aerial vehicle (UAV)-assisted wireless sensor network (WSN) data transmission is a hot topic of research in recent years. This article mainly focuses on the energy consumption optimization of WSN data transmission with the assistance of UAVs. First, we established a communication coverage model for UAV-WSN and derived the energy consumption of data transmission for UAV-WSN, determining the optimal number of cluster heads (CHs) under different UAV flight heights. Second, we built a model for the energy consumption of WSN data transmission and the UAV flight height, and determined the optimal flight height of the UAV, while also dividing the UAV task area into segments. Then, we proposed a model that dynamically optimized the UAV data collection position according to the CH location, which can further reduce the energy consumption of CHs during data transmission. Finally, we used simulation experiments to verify the feasibility and effectiveness of our proposed scheme.

UAV-assisted finite block-length backscatter: Performance analysis and optimization

This paper introduces and investigates the performance of a system where an unmanned aerial vehicle (UAV) is utilized to assist terrestrial backscattering devices (BDs) in wireless energy charging and data transmission. The UAV task is data collection through the backscatter communication with finite block length. To assess performance, the study not only considers energy efficiency (EE) but also derives closed-form expressions for age-of-information (AoI). The block error rate (BLER) expression is approximated using Gaussian-Chebyshev quadrature and the first-order Riemann integral. Furthermore, the optimization problem is solved to maximize EE and minimize transmit power through a search algorithm. Both EE and spectral efficiency (SE) are investigate via the number of transmission bits. The analytical and simulation results show that the optimized EE and minimum transmit power of UAV can be obtained by selecting an appropriate packet length and UAV altitude. Besides, the Rician factor K also has a significant impact on BLER of the considered system. Finally, the study points out that the system performance is strongly influenced by factors such as the utilized bandwidth, the specific operating environments, and the elevation angle of UAV.

UAV Cluster Mission Planning Strategy for Area Coverage Tasks.

In the context of area coverage tasks in three-dimensional space, unmanned aerial vehicle (UAV) clusters face challenges such as uneven task assignment, low task efficiency, and high energy consumption. This paper proposes an efficient mission planning strategy for UAV clusters in area coverage tasks. First, the area coverage search task is analyzed, and the coverage scheme of the task area is determined. Based on this, the cluster task area is divided into subareas. Then, for the UAV cluster task allocation problem, a step-by-step solution is proposed. Afterward, an improved fuzzy C-clustering algorithm is used to determine the UAV task area. Furthermore, an optimized particle swarm hybrid ant colony (PSOHAC) algorithm is proposed to plan the UAV cluster task path. Finally, the feasibility and superiority of the proposed scheme and improved algorithm are verified by simulation experiments. The simulation results show that the proposed method achieves full coverage of the task area and efficiently completes the task allocation of the UAV cluster. Compared with related comparison algorithms, the method proposed in this paper can achieve a maximum improvement of 21.9% in balanced energy consumption efficiency for UAV cluster task search planning, and the energy efficiency of the UAV cluster can be improved by up to 7.9%.

UAV mission scheduling with completion time, flight distance, and resource consumption constraints

Unmanned aerial vehicles (UAVs) are widely used in various military and civilian applications. UAV mission scheduling is a key issue in UAV applications and a central topic in UAV research. UAV task scheduling should include several constraints into consideration, such as completion time constraint, flight distance constraint, and resource consumption constraint. Furthermore, UAV task scheduling should be studied within the traditional framework of combinatorial optimisation. In this paper, we consider optimal mission scheduling for heterogeneous UAVs with completion time, flight distance, and resource consumption constraints. The contributions of the paper are summarised as follows. We define two combinatorial optimisation problems, namely, the NFTM (number of finished tasks maximisation) problem and the RFTM (reward of finished tasks maximisation) problem. We construct an algorithmic framework for both NFTM and RFTM problems, so that our heuristic algorithms (four for NFTM and two for RFTM) can be presented in a unified way. We derive upper bounds for optimal solutions, so that our heuristic solutions can be compared with optimal solutions. We experimentally evaluate the performance of our heuristic algorithms. To the best of our knowledge, this is the first paper studying UAV mission scheduling with time, distance, and resource constraints as combinatorial optimisation problems.