Tag Archives: Relay

Paper accepted in Transactions on Vehicular Technology

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Our paper entitled “Dynamic Multi-UAV Path Planning for Multi-Target Search and Connectivity” is accepted for publication in IEEE TVT.

In this work, we propose and analyze multi-drone path planners for multi-target search and connectivity. The goal of the unmanned aerial vehicle (UAV) mission is to search an unknown area to detect, connect and monitor multiple randomly distributed targets to the ground control station (GCS) while maintaining the connectivity of the UAVs to GCS. To this end, we propose to use two types of UAVs: search and relay. The search drones scan the area via onboard sensors, whereas relay UAVs provide connectivity. We propose three different responses to target detection with increasing adaptability: (i) follow pre-planned paths and inform GCS when possible, (ii) follow pre-planned paths and inject new UAVs to monitor the detected targets, (iii) assign a search UAV to monitor target, and re-plan remaining UAV paths. Furthermore, we implement multi-objective optimization-based planners for single-type UAVs, where the paths are optimized in terms of total coverage time and percentage connectivity.

Paper accepted at IEEE WCNC 2024

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Our paper entitled “Priority-based Dynamic Multi-UAV Positioning for Multi-Target Search and Connectivity” is accepted for publication in IEEE WCNC 2024.

In this work, we propose an event-driven algorithm that integrates a novel connectivity-based prioritization of targets into dynamic positioning and path planning for multi-UAV systems in search and rescue (SAR) missions. Two distinct groups of UAVs are deployed. While search UAVs sense the area of interest as fast as possible, relay UAVs provide connectivity to search UAVs as well as targets depending on their priority level.

Paper accepted at Ad hoc Networks Journal

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Paper entitled “Joint or Decoupled Optimization: Multi-UAV Path Planning for Search and Rescue” is accepted for publication in Ad Hoc Networks Journal within “Drone Network for Post-Earthquake Search and Rescue” project.

Article focuses on path planning of drone teams deployed for search and rescue missions. We compare selected joint and decoupled multi-drone path planning approaches
from mission and connectivity perspectives. We illustrate the trade-off between performance metrics from both viewpoints and show that depending on the available resources (e.g., number of drones) and the search area most suitable planner can change. We also propose a hybrid planner which uses a connectivity-wise better pre-mission plan.

Paper accepted in Ad Hoc Networks Journal

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Our paper entitled “Positioning aerial relays to maintain connectivity during drone team missions” is accepted for publication in Ad Hoc Networks Journal.

In this work, we deploy UAVs as relays to support mission-oriented UAV networks in order to decouple the mission and communication tasks. We propose a modular relay positioning and trajectory planning algorithm that guarantees connectivity of the UAV mission team with minimum number of relays and feasible trajectories, where the cost, network structure and setup can be changed, allowing its use for different types of missions, without relying on infrastructure. We propose different approaches to relay position decisions and compare the proposed schemes with an ideal scheme and a Voronoi-based benchmark scheme. Our results show that different solutions are applicable for achieving fewer number of relay nodes, higher utilization or lower number of hops between the nodes.

Paper accepted in IEEE Networking Letters

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Paper entitled “Dynamic Relay Selection and Positioning for Cooperative UAV Networks” is accepted for publication in IEEE Networking Letters.

This letter analyzes resource reservation for networking purposes in drone teams deployed for search and rescue missions. Building on a well-known static relay positioning technique that minimizes the number of drones, we propose a positioning and trajectory planning algorithm for relay nodes to provide connectivity to drones that are on a search and rescue mission.

Paper accepted in IEEE VTC Spring 2014

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Our paper “Neighbor Cardinality Estimation with Low-Power Transceivers: Implementation and Experimental Results,” is accepted in IEEE Vehicular Technology Conference- Spring 2014.

The paper provides a proof-of-concept and performance test of neighbor estimation algorithms with an implementation on low-power wireless sensor devices. We illustrate the challenges of implementing the recently proposed multi-feedback estimator (MFE)  on Z1 sensor devices. We compare the performance of MFE to that of simple neighbor counting.