Dear Editor,Through distributed machine learning,multi-UAV systems can achieve global optimization goals without a centralized server,such as optimal target tracking,by leveraging local calculation and communication w...Dear Editor,Through distributed machine learning,multi-UAV systems can achieve global optimization goals without a centralized server,such as optimal target tracking,by leveraging local calculation and communication with neighbors.In this work,we implement the stochastic gradient descent algorithm(SGD)distributedly to optimize tracking errors based on local state and aggregation of the neighbors'estimation.However,Byzantine agents can mislead neighbors,causing deviations from optimal tracking.We prove that the swarm achieves resilient convergence if aggregated results lie within the normal neighbors'convex hull,which can be guaranteed by the introduced centerpoint-based aggregation rule.In the given simulated scenarios,distributed learning using average,geometric median(GM),and coordinate-wise median(CM)based aggregation rules fail to track the target.Compared to solely using the centerpoint aggregation method,our approach,which combines a pre-filter with the centroid aggregation rule,significantly enhances resilience against Byzantine attacks,achieving faster convergence and smaller tracking errors.展开更多
The Global Positioning System(GPS)plays an indispensable role in the control of Unmanned Aerial Vehicle(UAV).However,the civilian GPS signals,transmitted over the air without any encryption,are vulnerable to spoofing ...The Global Positioning System(GPS)plays an indispensable role in the control of Unmanned Aerial Vehicle(UAV).However,the civilian GPS signals,transmitted over the air without any encryption,are vulnerable to spoofing attacks,which further guides the UAV on deviated positions or trajectories.To counter the GPS,,m spoofing on UAV system and to detect the position/trajectory anomaly in real time,a motion state vector based stack long short-term memory trajectory prediction scheme is firstly proposed,leveraging the temporal and spatial features of UAV kinematics.Based on the predicted results,an ensemble voting-based trajectory anomaly detection scheme is proposed to detect the position anomalies in real time with the information of motion state sequences.The proposed prediction-based trajectory anomaly detection scheme outperforms the existing offline detection schemes designed for fixed trajectories.Software In The Loop(SITL)based online prediction and online anomaly detection are demonstrated with random 3D flight trajectories.Results show that the coefficient of determination(R^(2))and Root Mean Square Error(RMSE)of the prediction scheme can reach 0.996 and 3.467,respectively.The accuracy,recall,and F1-score of the proposed anomaly detection scheme can reach 0.984,0.988,and 0.983,respectively,which outperform deep ensemble learning,LSTM-based classifier,machine learning classifier and GA-XGBoost based schemes.Moreover,results show that compared with LSTM-based classifier,the average duration(from the moment starting an attack to the moment the attack being detected)and distance of the proposed scheme are reduced by 24.4%and 19.5%,respectively.展开更多
The mobility and connective capabilities of unmanned aerial vehicles(UAVs)are becoming more and more important in defense,commercial,and research domains.However,their open communication makes UAVs susceptible toundes...The mobility and connective capabilities of unmanned aerial vehicles(UAVs)are becoming more and more important in defense,commercial,and research domains.However,their open communication makes UAVs susceptible toundesirablepassive attacks suchas eavesdroppingor jamming.Recently,the inefficiencyof traditional cryptography-based techniques has led to the addition of Physical Layer Security(PLS).This study focuses on the advanced PLS method for passive eavesdropping in UAV-aided vehicular environments,proposing a solution to complement the conventional cryptography approach.Initially,we present a performance analysis of first-order secrecy metrics in 6G-enabled UAV systems,namely hybrid outage probability(HOP)and secrecy outage probability(SOP)over 2×2 Nakagami-m channels.Later,we propose a novel technique for mitigating passive eavesdropping,which considers first-order secrecy metrics as an optimization problem and determines their lower and upper bounds.Finally,we conduct an analysis of bounded HOP and SOP using the interactive Nakagami-m channel,considering the multiple-input-multiple-output configuration of the UAV system.The findings indicate that 2×2 Nakagami-mis a suitable fadingmodel under constant velocity for trustworthy receivers and eavesdroppers.The results indicate that UAV mobility has some influence on an eavesdropper’s intrusion during line-of-sight-enabled communication and can play an important role in improving security against passive eavesdroppers.展开更多
In this paper,periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)m...In this paper,periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)method,a novel sliding manifold is proposed for controller design,which can solve the problem of collision avoidance.Then,the event-triggered strategy is applied to the distributed formation control of multi-UAV systems,where the evaluation of the event condition is continuous.In addition,the exclusion of Zeno behavior can be guaranteed by the inter-event time between two successive trigger events have a positive lower bound.Next,a periodic event-triggered mechanism is developed for formation control based on the continuous eventtriggered mechanism.The periodic trigger mechanism does not need additional hardware circuits and sophisticated sensors,which can reduce the control cost.The stability of the control system is proved by the Lyapunov function method.Finally,some numerical simulations are presented to illustrate the effectiveness of the proposed control protocol.展开更多
In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communic...In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communication,and computing modules to support various requirements of robots.In the task process,different modules assist the robots to perform tasks in a closed-loop way,which is referred to as a sensing-communication-computing-control(SC3)loop.In this work,we investigate a UAV-aided system containing multiple SC^(3)loops,which leverages non-orthogonal multiple access(NOMA)for efficient resource sharing.We describe and compare three different modelling levels for the SC^(3)loop.Based on the entropy SC^(3)loop model,a sum linear quadratic regulator(LQR)control cost minimization problem is formulated by optimizing the communication power.Further for the assure-to-be-stable case,we show that the original problem can be approximated by a modified user fairness problem,and accordingly gain more insights into the optimal solutions.Simulation results demonstrate the performance gain of using NOMA in such task-oriented systems,as well as the superiority of our proposed closed-loop-oriented design.展开更多
In this paper,we investigate a multi-UAV aided NOMA communication system,where multiple UAV-mounted aerial base stations are employed to serve ground users in the downlink NOMA communication,and each UAV serves its as...In this paper,we investigate a multi-UAV aided NOMA communication system,where multiple UAV-mounted aerial base stations are employed to serve ground users in the downlink NOMA communication,and each UAV serves its associated users on its own bandwidth.We aim at maximizing the overall common throughput in a finite time period.Such a problem is a typical mixed integer nonlinear problem,which involves both continuous-variable and combinatorial optimizations.To efficiently solve this problem,we propose a two-layer algorithm,which separately tackles continuous-variable and combinatorial optimization.Specifically,in the inner layer given one user association scheme,subproblems of bandwidth allocation,power allocation and trajectory design are solved based on alternating optimization.In the outer layer,a small number of candidate user association schemes are generated from an initial scheme and the best solution can be determined by comparing all the candidate schemes.In particular,a clustering algorithm based on K-means is applied to produce all candidate user association schemes,the successive convex optimization technique is adopted in the power allocation subproblem and a logistic function approximation approach is employed in the trajectory design subproblem.Simulation results show that the proposed NOMA scheme outperforms three baseline schemes in downlink common throughput,including one solution proposed in an existing literature.展开更多
This work focuses on maximizing the minimum user’s security energy efficiency(SEE)in an unmanned aerial vehicle-mounted reconfigurable intelligent surface(UAV-RIS)enhanced short-packet communication(SPC)system.The ba...This work focuses on maximizing the minimum user’s security energy efficiency(SEE)in an unmanned aerial vehicle-mounted reconfigurable intelligent surface(UAV-RIS)enhanced short-packet communication(SPC)system.The base station(BS)provides short packet services to ground users using the non-orthogonal multiple access(NOMA)protocol through UAV-RIS,while preventing eavesdropper attacks.To optimize SEE,a joint optimization is performed concerning power allocation,UAV position,decoding order,and RIS phase shifts.An iterative algorithm based on block coordinate descent is proposed for mixed-integer non-convex SEE optimization problem.The original problem is decomposed into three sub-problems,solved alternately using successive convex approximation(SCA),quadratic transformation,penalty function,and semi-definite programming(SDP).Simulation results demonstrate the performance of the UAV-RIS-enhanced short-packet system under different parameters and verify the algorithm’s convergence.Compared to benchmark schemes such as orthogonal multiple access,long packet communication,and sum SEE,the proposed UAV-RIS-enhanced short-packet scheme achieves the higher minimum user’s SEE.展开更多
Recently,unmanned aerial vehicle(UAV)-aided free-space optical(FSO)communication has attracted widespread attentions.However,most of the existing research focuses on communication performance only.The authors investig...Recently,unmanned aerial vehicle(UAV)-aided free-space optical(FSO)communication has attracted widespread attentions.However,most of the existing research focuses on communication performance only.The authors investigate the integrated scheduling of communication,sensing,and control for UAV-aided FSO communication systems.Initially,a sensing-control model is established via the control theory.Moreover,an FSO communication channel model is established by considering the effects of atmospheric loss,atmospheric turbulence,geometrical loss,and angle-of-arrival fluctuation.Then,the relationship between the motion control of the UAV and radial displacement is obtained to link the control aspect and communication aspect.Assuming that the base station has instantaneous channel state information(CSI)or statistical CSI,the thresholds of the sensing-control pattern activation are designed,respectively.Finally,an integrated scheduling scheme for performing communication,sensing,and control is proposed.Numerical results indicate that,compared with conventional time-triggered scheme,the proposed integrated scheduling scheme obtains comparable communication and control performance,but reduces the sensing consumed power by 52.46%.展开更多
The increasing use of UAV-based LiDAR systems for high-resolution mapping highlights the need for reliable,field-validated accuracy assessment methods.This study presents a practical technique for evaluating geometric...The increasing use of UAV-based LiDAR systems for high-resolution mapping highlights the need for reliable,field-validated accuracy assessment methods.This study presents a practical technique for evaluating geometric and radiometric performance using georeferenced,high-reflectivity foil targets.The method enables precise extraction of target centers and correction of systematic georeferencing errors through 3D transformation.The approach was applied at the Tora Cement Factory in Cairo,Egypt—an industrial site with complex topography—using a DJI Matrice 300 RTK UAV equipped with the Zenmuse L1 LiDAR sensor and Zenmuse P1 photogrammetric camera.Three test flights were performed at altitudes of 50 m(nadir and oblique)and 70 m(oblique),with a high-resolution Structure-from-Motion(SfM)point cloud generated for reference.After transformation,the global RMSE of the LiDAR dataset was reduced to approximately 2.8∼3.2 cm,improving upon the raw uncorrected accuracy of up to 4.6 cm.Surface-wise comparisons showed RMSEs of 3.1 cm on flat areas,3.8 cm on rugged terrain,and 4.5 cm on vertical structures.Additionally,the RGB data embedded in the LiDAR point cloud exhibited a systematic spatial offset between 18 and 43 cm,with an average internal standard deviation near 5 cm,indicating a potential limitation for radiometric applications.The proposed method offers a cost-effective,accurate,and repeatable solution for UAV LiDAR validation and supports operational deployment,quality assurance,and system calibration in real-world scenarios.展开更多
In this paper,unmanned aerial vehicle(UAV)is adopted to serve as aerial base station(ABS)and mobile edge computing(MEC)platform for wire-less communication systems.When Internet of Things devices(IoTDs)cannot cope wit...In this paper,unmanned aerial vehicle(UAV)is adopted to serve as aerial base station(ABS)and mobile edge computing(MEC)platform for wire-less communication systems.When Internet of Things devices(IoTDs)cannot cope with computation-intensive and/or time-sensitive tasks,part of tasks is offloaded to the UAV side,and UAV process them with its own computing resources and caching resources.Thus,the burden of IoTDs gets relieved under the satisfaction of the quality of service(QoS)require-ments.However,owing to the limited resources of UAV,the cost of whole system,i.e.,that is defined as the weighted sum of energy consumption and time de-lay with caching,should be further optimized while the objective function and the constraints are non-convex.Therefore,we first jointly optimize commu-nication resources B,computing resources F and of-floading rates X with alternating iteration and convex optimization method,and then determine the value of caching decision Y with branch-and-bound(BB)al-gorithm.Numerical results show that UAV assisting partial task offloading with content caching is supe-rior to local computing and full offloading mechanism without caching,and meanwhile the cost of whole sys-tem gets further optimized with our proposed scheme.展开更多
Unmanned Aerial Vehicles(UAVs)have been considered to have great potential in supporting reliable and timely data harvesting for Sensor Nodes(SNs)from an Internet of Things(IoT)perspective.However,due to physical limi...Unmanned Aerial Vehicles(UAVs)have been considered to have great potential in supporting reliable and timely data harvesting for Sensor Nodes(SNs)from an Internet of Things(IoT)perspective.However,due to physical limitations,UAVs are unable to further process the harvested data and have to rely on terrestrial servers,thus extra spectrum resource is needed to convey the harvested data.To avoid the cost of extra servers and spectrum resources,in this paper,we consider a UAV-based data harvesting network supported by a Cell-Free massive Multiple-Input-Multiple-Output(CF-mMIMO)system,where a UAV is used to collect and transmit data from SNs to the central processing unit of CF-mMIMO system for processing.In order to avoid using additional spectrum resources,the entire bandwidth is shared among radio access networks and wireless fronthaul links.Moreover,considering the limited capacity of the fronthaul links,the compress-and-forward scheme is adopted.In this work,in order to maximize the ergodically achievable sum rate of SNs,the power allocation of ground access points,the compression of fronthaul links,and also the bandwidth fraction between radio access networks and wireless fronthaul links are jointly optimized.To avoid the high overhead introduced by computing ergodically achievable rates,we introduce an approximate problem,using the large-dimensional random matrix theory,which relies only on statistical channel state information.We solve the nontrivial problem in three steps and propose an algorithm based on weighted minimum mean square error and Dinkelbach’s methods to find solutions.Finally,simulation results show that the proposed algorithm converges quickly and outperforms the baseline algorithms.展开更多
For the high-precision positioning requirements of UAV formation cooperative operation,a distributed control system based on RTK technology is proposed in this paper.By using the U-blox F9P GNSS module to build an RTK...For the high-precision positioning requirements of UAV formation cooperative operation,a distributed control system based on RTK technology is proposed in this paper.By using the U-blox F9P GNSS module to build an RTK base station/mobile terminal,combined with Pixhawk 6C flight control and MAVESP8266 communication module,centimeter-level(<2 cm)positioning accuracy is achieved.The system adopts the“centralized planning distributed execution”architecture,transmits RTCM differential data and MAVLink messages through the UDP protocol,and integrates ROS to realize status information subscription.Experiments show that the system can effectively support large area surveying and mapping and other complex tasks,and significantly improve the autonomy and reliability of formation operations.展开更多
During flight operations,quadrotor UAVs are susceptible to interference from environmental factors such as wind gusts,battery depletion,and obstacles,which may compromise flight stability.This study proposes a fuzzy a...During flight operations,quadrotor UAVs are susceptible to interference from environmental factors such as wind gusts,battery depletion,and obstacles,which may compromise flight stability.This study proposes a fuzzy adaptive PID controller(Fuzzy PID)combining PID control with fuzzy logic to achieve self-adaptive adjustment of PID parameters in UAV flight control systems,thereby enhancing system robustness.A quadrotor UAV control model was developed in Simulink,and a Fuzzy PID control system was constructed by integrating fuzzy control logic for simulation and experimental validation.Test results demonstrate that UAVs governed by Fuzzy PID control exhibit faster regulation speed and improved stability when subjected to disturbances.展开更多
UAV geophysical surveys can adapt to complex ground exploration environments and greatly reduce the safety risk of operators, which may be applied in geophysical surveys, geological investigations, resource exploratio...UAV geophysical surveys can adapt to complex ground exploration environments and greatly reduce the safety risk of operators, which may be applied in geophysical surveys, geological investigations, resource exploration and other fields. Rotary-wing UAV is characterized by its flexible start-stop mode, high safety profile and night navigation. In this paper, according to the DY-115 rotary-wing UAV, an aeromagnetic measuring system with 115KG large load capacity was designed and integrated, and a magnetic compensation flight and test flight were successively carried out. The data satisfi ed the requirements of the technical specifi cations. By comparing and analyzing the test aeromagnetic anomaly data with the field magnetic data, the overall trend of the contour was observed to be basically the same as the shape. Accordingly, the aeromagnetic anomaly was found to be smoother and more continuous, which aligned with the interpretation and inversion of the anomaly, further verifying the stability, reliability and practicability of the large load rotary-wing UAV aeromagnetic measurement system.展开更多
To overcome the limitations of conventional approaches that adopt monolithic architectures and overlook critical dynamic interactions in evaluating combat effectiveness and subsystem contributions within amphibious op...To overcome the limitations of conventional approaches that adopt monolithic architectures and overlook critical dynamic interactions in evaluating combat effectiveness and subsystem contributions within amphibious operations,this paper proposes an integrated framework combining complex system network modeling with dynamic adversarial simulation for evaluating mission-critical system-of-systems(SoS).Specifically,the contribution rate of unmanned aerial vehicles(UAVs)to the amphibious joint landing SoS(AJLSoS)is quantified.Firstly,a standardized network topology model is developed using operation loop theory,systematically characterizing node functionalities and their interdependencies.Secondly,the ideal Lanchester equation is augmented according to the model’s static operational capability,and an amphibious operational simulation model is constructed based on the modified equation,enabling dynamic simulation of force attrition and engagement duration as key performance indicators of AJLSoS.To validate the theoretical framework,a battalion-level amphibious campaign scenario is developed to compute effectiveness metrics across multiple control scenarios and the contribution rate of UAVs to AJLSoS is analyzed.This study not only provides actionable insights for operational mission planning of UAVs in the context of amphibious operations but also demonstrates high adaptability to diverse operational contexts.展开更多
Due to the high flexibility of Unmanned Aerial Vehicles(UAVs),equipping Mobile Edge Computing(MEC)servers on UAVs can effectively and rapidly handle the high computing requirements of computation-intensive tasks.Howev...Due to the high flexibility of Unmanned Aerial Vehicles(UAVs),equipping Mobile Edge Computing(MEC)servers on UAVs can effectively and rapidly handle the high computing requirements of computation-intensive tasks.However,the Line-of-Sight(LoS)transmission between the UAV and ground users makes the offloading information be easily monitored.Therefore,this paper proposes a covert communication scheme against a flying warden in UAV-assisted MEC system.In the proposed scheme,the UAV server assists ground users in completing the computation of offloading tasks.To reduce the possibility of the flying warden detecting the transmission behavior of ground users to the UAV server,a ground jamming device sends jamming signals to the flying warden.The minimum computing capacity of the system is maximized by jointly optimizing ground users’resources and the UAV server’s trajectory under the constraint of system covertness.Due to the multivariable coupling,the optimization problem is non-convex.The optimization problem is first transformed into a tractable form,and then the optimizing solution is iteratively obtained using Successive Convex Approximation(SCA)and Block Coordinate Descent(BCD)algorithms.Numerical results show that,compared to the benchmark schemes,the proposed scheme effectively enhances the computing capacity of the system while meeting the system’s covertness requirements.展开更多
Unmanned Aerial Vehicles(UAVs)have become integral components in smart city infrastructures,supporting applications such as emergency response,surveillance,and data collection.However,the high mobility and dynamic top...Unmanned Aerial Vehicles(UAVs)have become integral components in smart city infrastructures,supporting applications such as emergency response,surveillance,and data collection.However,the high mobility and dynamic topology of Flying Ad Hoc Networks(FANETs)present significant challenges for maintaining reliable,low-latency communication.Conventional geographic routing protocols often struggle in situations where link quality varies and mobility patterns are unpredictable.To overcome these limitations,this paper proposes an improved routing protocol based on reinforcement learning.This new approach integrates Q-learning with mechanisms that are both link-aware and mobility-aware.The proposed method optimizes the selection of relay nodes by using an adaptive reward function that takes into account energy consumption,delay,and link quality.Additionally,a Kalman filter is integrated to predict UAV mobility,improving the stability of communication links under dynamic network conditions.Simulation experiments were conducted using realistic scenarios,varying the number of UAVs to assess scalability.An analysis was conducted on key performance metrics,including the packet delivery ratio,end-to-end delay,and total energy consumption.The results demonstrate that the proposed approach significantly improves the packet delivery ratio by 12%–15%and reduces delay by up to 25.5%when compared to conventional GEO and QGEO protocols.However,this improvement comes at the cost of higher energy consumption due to additional computations and control overhead.Despite this trade-off,the proposed solution ensures reliable and efficient communication,making it well-suited for large-scale UAV networks operating in complex urban environments.展开更多
This paper investigates the traffic offloading optimization challenge in Space-Air-Ground Integrated Networks(SAGIN)through a novel Recursive Multi-Agent Proximal Policy Optimization(RMAPPO)algorithm.The exponential g...This paper investigates the traffic offloading optimization challenge in Space-Air-Ground Integrated Networks(SAGIN)through a novel Recursive Multi-Agent Proximal Policy Optimization(RMAPPO)algorithm.The exponential growth of mobile devices and data traffic has substantially increased network congestion,particularly in urban areas and regions with limited terrestrial infrastructure.Our approach jointly optimizes unmanned aerial vehicle(UAV)trajectories and satellite-assisted offloading strategies to simultaneously maximize data throughput,minimize energy consumption,and maintain equitable resource distribution.The proposed RMAPPO framework incorporates recurrent neural networks(RNNs)to model temporal dependencies in UAV mobility patterns and utilizes a decentralized multi-agent reinforcement learning architecture to reduce communication overhead while improving system robustness.The proposed RMAPPO algorithm was evaluated through simulation experiments,with the results indicating that it significantly enhances the cumulative traffic offloading rate of nodes and reduces the energy consumption of UAVs.展开更多
With the rapid expansion of drone applications,accurate detection of objects in aerial imagery has become crucial for intelligent transportation,urban management,and emergency rescue missions.However,existing methods ...With the rapid expansion of drone applications,accurate detection of objects in aerial imagery has become crucial for intelligent transportation,urban management,and emergency rescue missions.However,existing methods face numerous challenges in practical deployment,including scale variation handling,feature degradation,and complex backgrounds.To address these issues,we propose Edge-enhanced and Detail-Capturing You Only Look Once(EHDC-YOLO),a novel framework for object detection in Unmanned Aerial Vehicle(UAV)imagery.Based on the You Only Look Once version 11 nano(YOLOv11n)baseline,EHDC-YOLO systematically introduces several architectural enhancements:(1)a Multi-Scale Edge Enhancement(MSEE)module that leverages multi-scale pooling and edge information to enhance boundary feature extraction;(2)an Enhanced Feature Pyramid Network(EFPN)that integrates P2-level features with Cross Stage Partial(CSP)structures and OmniKernel convolutions for better fine-grained representation;and(3)Dynamic Head(DyHead)with multi-dimensional attention mechanisms for enhanced cross-scale modeling and perspective adaptability.Comprehensive experiments on the Vision meets Drones for Detection(VisDrone-DET)2019 dataset demonstrate that EHDC-YOLO achieves significant improvements,increasing mean Average Precision(mAP)@0.5 from 33.2%to 46.1%(an absolute improvement of 12.9 percentage points)and mAP@0.5:0.95 from 19.5%to 28.0%(an absolute improvement of 8.5 percentage points)compared with the YOLOv11n baseline,while maintaining a reasonable parameter count(2.81 M vs the baseline’s 2.58 M).Further ablation studies confirm the effectiveness of each proposed component,while visualization results highlight EHDC-YOLO’s superior performance in detecting objects and handling occlusions in complex drone scenarios.展开更多
基金supported By Guangdong Major Project of Basic and Applied Basic Research(2023B0303000009)Guangdong Basic and Applied Basic Research Foundation(2024A1515030153,2025A1515011587)+1 种基金Project of Department of Education of Guangdong Province(2023ZDZX4046)Shen-zhen Natural Science Fund(Stable Support Plan Program 20231122121608001),Ningbo Municipal Science and Technology Bureau(ZX2024000604).
文摘Dear Editor,Through distributed machine learning,multi-UAV systems can achieve global optimization goals without a centralized server,such as optimal target tracking,by leveraging local calculation and communication with neighbors.In this work,we implement the stochastic gradient descent algorithm(SGD)distributedly to optimize tracking errors based on local state and aggregation of the neighbors'estimation.However,Byzantine agents can mislead neighbors,causing deviations from optimal tracking.We prove that the swarm achieves resilient convergence if aggregated results lie within the normal neighbors'convex hull,which can be guaranteed by the introduced centerpoint-based aggregation rule.In the given simulated scenarios,distributed learning using average,geometric median(GM),and coordinate-wise median(CM)based aggregation rules fail to track the target.Compared to solely using the centerpoint aggregation method,our approach,which combines a pre-filter with the centroid aggregation rule,significantly enhances resilience against Byzantine attacks,achieving faster convergence and smaller tracking errors.
基金supported in part by the National Natural Science Foundation of China(No.62271076)in part by the Fundamental Research Funds for the Central Universities,China(No.2242022k60006).
文摘The Global Positioning System(GPS)plays an indispensable role in the control of Unmanned Aerial Vehicle(UAV).However,the civilian GPS signals,transmitted over the air without any encryption,are vulnerable to spoofing attacks,which further guides the UAV on deviated positions or trajectories.To counter the GPS,,m spoofing on UAV system and to detect the position/trajectory anomaly in real time,a motion state vector based stack long short-term memory trajectory prediction scheme is firstly proposed,leveraging the temporal and spatial features of UAV kinematics.Based on the predicted results,an ensemble voting-based trajectory anomaly detection scheme is proposed to detect the position anomalies in real time with the information of motion state sequences.The proposed prediction-based trajectory anomaly detection scheme outperforms the existing offline detection schemes designed for fixed trajectories.Software In The Loop(SITL)based online prediction and online anomaly detection are demonstrated with random 3D flight trajectories.Results show that the coefficient of determination(R^(2))and Root Mean Square Error(RMSE)of the prediction scheme can reach 0.996 and 3.467,respectively.The accuracy,recall,and F1-score of the proposed anomaly detection scheme can reach 0.984,0.988,and 0.983,respectively,which outperform deep ensemble learning,LSTM-based classifier,machine learning classifier and GA-XGBoost based schemes.Moreover,results show that compared with LSTM-based classifier,the average duration(from the moment starting an attack to the moment the attack being detected)and distance of the proposed scheme are reduced by 24.4%and 19.5%,respectively.
基金funded by Taif University,Taif,Saudi Arabia,Project No.(TUDSPP-2024-139).
文摘The mobility and connective capabilities of unmanned aerial vehicles(UAVs)are becoming more and more important in defense,commercial,and research domains.However,their open communication makes UAVs susceptible toundesirablepassive attacks suchas eavesdroppingor jamming.Recently,the inefficiencyof traditional cryptography-based techniques has led to the addition of Physical Layer Security(PLS).This study focuses on the advanced PLS method for passive eavesdropping in UAV-aided vehicular environments,proposing a solution to complement the conventional cryptography approach.Initially,we present a performance analysis of first-order secrecy metrics in 6G-enabled UAV systems,namely hybrid outage probability(HOP)and secrecy outage probability(SOP)over 2×2 Nakagami-m channels.Later,we propose a novel technique for mitigating passive eavesdropping,which considers first-order secrecy metrics as an optimization problem and determines their lower and upper bounds.Finally,we conduct an analysis of bounded HOP and SOP using the interactive Nakagami-m channel,considering the multiple-input-multiple-output configuration of the UAV system.The findings indicate that 2×2 Nakagami-mis a suitable fadingmodel under constant velocity for trustworthy receivers and eavesdroppers.The results indicate that UAV mobility has some influence on an eavesdropper’s intrusion during line-of-sight-enabled communication and can play an important role in improving security against passive eavesdroppers.
基金supported in part by the Foundation(No.2019-JCJQ-ZD-049)the National Natural Science Foundation of China(Nos.61703134,62022060,62073234,61773278)+2 种基金The China Postdoctoral Science Foundation(No.2019M650874)The Key R&D Program of Hebei Province(No.20310802D)the Natural Science Foundation of Hebei Province(Nos.F2019202369,F2018202279,F2019202363)。
文摘In this paper,periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)method,a novel sliding manifold is proposed for controller design,which can solve the problem of collision avoidance.Then,the event-triggered strategy is applied to the distributed formation control of multi-UAV systems,where the evaluation of the event condition is continuous.In addition,the exclusion of Zeno behavior can be guaranteed by the inter-event time between two successive trigger events have a positive lower bound.Next,a periodic event-triggered mechanism is developed for formation control based on the continuous eventtriggered mechanism.The periodic trigger mechanism does not need additional hardware circuits and sophisticated sensors,which can reduce the control cost.The stability of the control system is proved by the Lyapunov function method.Finally,some numerical simulations are presented to illustrate the effectiveness of the proposed control protocol.
基金supported in part by the National Key Research and Development Program of China under Grant 2020YFA0711301in part by the National Natural Science Foundation of China under Grant 62341110, Grant U22A2002, and Grant 62025110in part by the Suzhou Science and Technology Project
文摘In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communication,and computing modules to support various requirements of robots.In the task process,different modules assist the robots to perform tasks in a closed-loop way,which is referred to as a sensing-communication-computing-control(SC3)loop.In this work,we investigate a UAV-aided system containing multiple SC^(3)loops,which leverages non-orthogonal multiple access(NOMA)for efficient resource sharing.We describe and compare three different modelling levels for the SC^(3)loop.Based on the entropy SC^(3)loop model,a sum linear quadratic regulator(LQR)control cost minimization problem is formulated by optimizing the communication power.Further for the assure-to-be-stable case,we show that the original problem can be approximated by a modified user fairness problem,and accordingly gain more insights into the optimal solutions.Simulation results demonstrate the performance gain of using NOMA in such task-oriented systems,as well as the superiority of our proposed closed-loop-oriented design.
基金supported by Beijing Natural Science Fund–Haidian Original Innovation Joint Fund(L232040 and L232045).
文摘In this paper,we investigate a multi-UAV aided NOMA communication system,where multiple UAV-mounted aerial base stations are employed to serve ground users in the downlink NOMA communication,and each UAV serves its associated users on its own bandwidth.We aim at maximizing the overall common throughput in a finite time period.Such a problem is a typical mixed integer nonlinear problem,which involves both continuous-variable and combinatorial optimizations.To efficiently solve this problem,we propose a two-layer algorithm,which separately tackles continuous-variable and combinatorial optimization.Specifically,in the inner layer given one user association scheme,subproblems of bandwidth allocation,power allocation and trajectory design are solved based on alternating optimization.In the outer layer,a small number of candidate user association schemes are generated from an initial scheme and the best solution can be determined by comparing all the candidate schemes.In particular,a clustering algorithm based on K-means is applied to produce all candidate user association schemes,the successive convex optimization technique is adopted in the power allocation subproblem and a logistic function approximation approach is employed in the trajectory design subproblem.Simulation results show that the proposed NOMA scheme outperforms three baseline schemes in downlink common throughput,including one solution proposed in an existing literature.
基金co-supported by the National Natural Science Foundation of China(Nos.U23A20279,62271094)the National Key R&D Program of China(No.SQ2023YFB2500024)+2 种基金the Science Foundation for Youths of Natural Science Foundation of Sichuan Provincial,China(No.2022NSFSC0936)the China Postdoctoral Science Foundation(No.2022M720666)the Open Fund of Key Laboratory of Big Data Intelligent Computing,Chongqing University of Posts and Telecommunications,China(No.BDIC-2023-B-002).
文摘This work focuses on maximizing the minimum user’s security energy efficiency(SEE)in an unmanned aerial vehicle-mounted reconfigurable intelligent surface(UAV-RIS)enhanced short-packet communication(SPC)system.The base station(BS)provides short packet services to ground users using the non-orthogonal multiple access(NOMA)protocol through UAV-RIS,while preventing eavesdropper attacks.To optimize SEE,a joint optimization is performed concerning power allocation,UAV position,decoding order,and RIS phase shifts.An iterative algorithm based on block coordinate descent is proposed for mixed-integer non-convex SEE optimization problem.The original problem is decomposed into three sub-problems,solved alternately using successive convex approximation(SCA),quadratic transformation,penalty function,and semi-definite programming(SDP).Simulation results demonstrate the performance of the UAV-RIS-enhanced short-packet system under different parameters and verify the algorithm’s convergence.Compared to benchmark schemes such as orthogonal multiple access,long packet communication,and sum SEE,the proposed UAV-RIS-enhanced short-packet scheme achieves the higher minimum user’s SEE.
文摘Recently,unmanned aerial vehicle(UAV)-aided free-space optical(FSO)communication has attracted widespread attentions.However,most of the existing research focuses on communication performance only.The authors investigate the integrated scheduling of communication,sensing,and control for UAV-aided FSO communication systems.Initially,a sensing-control model is established via the control theory.Moreover,an FSO communication channel model is established by considering the effects of atmospheric loss,atmospheric turbulence,geometrical loss,and angle-of-arrival fluctuation.Then,the relationship between the motion control of the UAV and radial displacement is obtained to link the control aspect and communication aspect.Assuming that the base station has instantaneous channel state information(CSI)or statistical CSI,the thresholds of the sensing-control pattern activation are designed,respectively.Finally,an integrated scheduling scheme for performing communication,sensing,and control is proposed.Numerical results indicate that,compared with conventional time-triggered scheme,the proposed integrated scheduling scheme obtains comparable communication and control performance,but reduces the sensing consumed power by 52.46%.
文摘The increasing use of UAV-based LiDAR systems for high-resolution mapping highlights the need for reliable,field-validated accuracy assessment methods.This study presents a practical technique for evaluating geometric and radiometric performance using georeferenced,high-reflectivity foil targets.The method enables precise extraction of target centers and correction of systematic georeferencing errors through 3D transformation.The approach was applied at the Tora Cement Factory in Cairo,Egypt—an industrial site with complex topography—using a DJI Matrice 300 RTK UAV equipped with the Zenmuse L1 LiDAR sensor and Zenmuse P1 photogrammetric camera.Three test flights were performed at altitudes of 50 m(nadir and oblique)and 70 m(oblique),with a high-resolution Structure-from-Motion(SfM)point cloud generated for reference.After transformation,the global RMSE of the LiDAR dataset was reduced to approximately 2.8∼3.2 cm,improving upon the raw uncorrected accuracy of up to 4.6 cm.Surface-wise comparisons showed RMSEs of 3.1 cm on flat areas,3.8 cm on rugged terrain,and 4.5 cm on vertical structures.Additionally,the RGB data embedded in the LiDAR point cloud exhibited a systematic spatial offset between 18 and 43 cm,with an average internal standard deviation near 5 cm,indicating a potential limitation for radiometric applications.The proposed method offers a cost-effective,accurate,and repeatable solution for UAV LiDAR validation and supports operational deployment,quality assurance,and system calibration in real-world scenarios.
基金supported by National Natural Science Foundation of China(No.61821001)Science and Technology Key Project of Guangdong Province,China(2019B010157001).
文摘In this paper,unmanned aerial vehicle(UAV)is adopted to serve as aerial base station(ABS)and mobile edge computing(MEC)platform for wire-less communication systems.When Internet of Things devices(IoTDs)cannot cope with computation-intensive and/or time-sensitive tasks,part of tasks is offloaded to the UAV side,and UAV process them with its own computing resources and caching resources.Thus,the burden of IoTDs gets relieved under the satisfaction of the quality of service(QoS)require-ments.However,owing to the limited resources of UAV,the cost of whole system,i.e.,that is defined as the weighted sum of energy consumption and time de-lay with caching,should be further optimized while the objective function and the constraints are non-convex.Therefore,we first jointly optimize commu-nication resources B,computing resources F and of-floading rates X with alternating iteration and convex optimization method,and then determine the value of caching decision Y with branch-and-bound(BB)al-gorithm.Numerical results show that UAV assisting partial task offloading with content caching is supe-rior to local computing and full offloading mechanism without caching,and meanwhile the cost of whole sys-tem gets further optimized with our proposed scheme.
基金supported in part by the Jiangsu Provincial Key Research and Development Program(No.BE2022068-2)in part by the National Natural Science Foundation of China under Grant 62201285+1 种基金in part by Young Elite Scientists Sponsorship Program by CAST under Grant 2022QNRC001in part by the Postgraduate Research&Practice Innovation Program of Jiangsu Province under Grant KYCX23_1012.
文摘Unmanned Aerial Vehicles(UAVs)have been considered to have great potential in supporting reliable and timely data harvesting for Sensor Nodes(SNs)from an Internet of Things(IoT)perspective.However,due to physical limitations,UAVs are unable to further process the harvested data and have to rely on terrestrial servers,thus extra spectrum resource is needed to convey the harvested data.To avoid the cost of extra servers and spectrum resources,in this paper,we consider a UAV-based data harvesting network supported by a Cell-Free massive Multiple-Input-Multiple-Output(CF-mMIMO)system,where a UAV is used to collect and transmit data from SNs to the central processing unit of CF-mMIMO system for processing.In order to avoid using additional spectrum resources,the entire bandwidth is shared among radio access networks and wireless fronthaul links.Moreover,considering the limited capacity of the fronthaul links,the compress-and-forward scheme is adopted.In this work,in order to maximize the ergodically achievable sum rate of SNs,the power allocation of ground access points,the compression of fronthaul links,and also the bandwidth fraction between radio access networks and wireless fronthaul links are jointly optimized.To avoid the high overhead introduced by computing ergodically achievable rates,we introduce an approximate problem,using the large-dimensional random matrix theory,which relies only on statistical channel state information.We solve the nontrivial problem in three steps and propose an algorithm based on weighted minimum mean square error and Dinkelbach’s methods to find solutions.Finally,simulation results show that the proposed algorithm converges quickly and outperforms the baseline algorithms.
基金The 2023 Scientific and Technological Project in Henan Province of China(Grant No.232102220098)。
文摘For the high-precision positioning requirements of UAV formation cooperative operation,a distributed control system based on RTK technology is proposed in this paper.By using the U-blox F9P GNSS module to build an RTK base station/mobile terminal,combined with Pixhawk 6C flight control and MAVESP8266 communication module,centimeter-level(<2 cm)positioning accuracy is achieved.The system adopts the“centralized planning distributed execution”architecture,transmits RTCM differential data and MAVLink messages through the UDP protocol,and integrates ROS to realize status information subscription.Experiments show that the system can effectively support large area surveying and mapping and other complex tasks,and significantly improve the autonomy and reliability of formation operations.
基金The 2023 Scientific and Technological Project in Henan Province of China(232102220098)。
文摘During flight operations,quadrotor UAVs are susceptible to interference from environmental factors such as wind gusts,battery depletion,and obstacles,which may compromise flight stability.This study proposes a fuzzy adaptive PID controller(Fuzzy PID)combining PID control with fuzzy logic to achieve self-adaptive adjustment of PID parameters in UAV flight control systems,thereby enhancing system robustness.A quadrotor UAV control model was developed in Simulink,and a Fuzzy PID control system was constructed by integrating fuzzy control logic for simulation and experimental validation.Test results demonstrate that UAVs governed by Fuzzy PID control exhibit faster regulation speed and improved stability when subjected to disturbances.
基金supported by the project "Development of High-Temperature Superconducting Aeromagnetic Full Tensor Gradient Measurement System and Research on Error Compensation Methods"(Grant No. XZ202501ZY0136)。
文摘UAV geophysical surveys can adapt to complex ground exploration environments and greatly reduce the safety risk of operators, which may be applied in geophysical surveys, geological investigations, resource exploration and other fields. Rotary-wing UAV is characterized by its flexible start-stop mode, high safety profile and night navigation. In this paper, according to the DY-115 rotary-wing UAV, an aeromagnetic measuring system with 115KG large load capacity was designed and integrated, and a magnetic compensation flight and test flight were successively carried out. The data satisfi ed the requirements of the technical specifi cations. By comparing and analyzing the test aeromagnetic anomaly data with the field magnetic data, the overall trend of the contour was observed to be basically the same as the shape. Accordingly, the aeromagnetic anomaly was found to be smoother and more continuous, which aligned with the interpretation and inversion of the anomaly, further verifying the stability, reliability and practicability of the large load rotary-wing UAV aeromagnetic measurement system.
文摘To overcome the limitations of conventional approaches that adopt monolithic architectures and overlook critical dynamic interactions in evaluating combat effectiveness and subsystem contributions within amphibious operations,this paper proposes an integrated framework combining complex system network modeling with dynamic adversarial simulation for evaluating mission-critical system-of-systems(SoS).Specifically,the contribution rate of unmanned aerial vehicles(UAVs)to the amphibious joint landing SoS(AJLSoS)is quantified.Firstly,a standardized network topology model is developed using operation loop theory,systematically characterizing node functionalities and their interdependencies.Secondly,the ideal Lanchester equation is augmented according to the model’s static operational capability,and an amphibious operational simulation model is constructed based on the modified equation,enabling dynamic simulation of force attrition and engagement duration as key performance indicators of AJLSoS.To validate the theoretical framework,a battalion-level amphibious campaign scenario is developed to compute effectiveness metrics across multiple control scenarios and the contribution rate of UAVs to AJLSoS is analyzed.This study not only provides actionable insights for operational mission planning of UAVs in the context of amphibious operations but also demonstrates high adaptability to diverse operational contexts.
基金supported in part by the Zhejiang Provincial Natural Science Foundation of China(No.LR25F010003)in part by the National Natural Science Foundation of China(Nos.62271447,61871348 and 62471090)+1 种基金in part by the Natural Science Foundation of Sichuan Province of China(No.2023NSFSC047)in part by the Fundamental Research Funds for the Provincial Universities of Zhejiang,China(No.RF-C2023008).
文摘Due to the high flexibility of Unmanned Aerial Vehicles(UAVs),equipping Mobile Edge Computing(MEC)servers on UAVs can effectively and rapidly handle the high computing requirements of computation-intensive tasks.However,the Line-of-Sight(LoS)transmission between the UAV and ground users makes the offloading information be easily monitored.Therefore,this paper proposes a covert communication scheme against a flying warden in UAV-assisted MEC system.In the proposed scheme,the UAV server assists ground users in completing the computation of offloading tasks.To reduce the possibility of the flying warden detecting the transmission behavior of ground users to the UAV server,a ground jamming device sends jamming signals to the flying warden.The minimum computing capacity of the system is maximized by jointly optimizing ground users’resources and the UAV server’s trajectory under the constraint of system covertness.Due to the multivariable coupling,the optimization problem is non-convex.The optimization problem is first transformed into a tractable form,and then the optimizing solution is iteratively obtained using Successive Convex Approximation(SCA)and Block Coordinate Descent(BCD)algorithms.Numerical results show that,compared to the benchmark schemes,the proposed scheme effectively enhances the computing capacity of the system while meeting the system’s covertness requirements.
基金funded by Hung Yen University of Technology and Education under grand number UTEHY.L.2025.62.
文摘Unmanned Aerial Vehicles(UAVs)have become integral components in smart city infrastructures,supporting applications such as emergency response,surveillance,and data collection.However,the high mobility and dynamic topology of Flying Ad Hoc Networks(FANETs)present significant challenges for maintaining reliable,low-latency communication.Conventional geographic routing protocols often struggle in situations where link quality varies and mobility patterns are unpredictable.To overcome these limitations,this paper proposes an improved routing protocol based on reinforcement learning.This new approach integrates Q-learning with mechanisms that are both link-aware and mobility-aware.The proposed method optimizes the selection of relay nodes by using an adaptive reward function that takes into account energy consumption,delay,and link quality.Additionally,a Kalman filter is integrated to predict UAV mobility,improving the stability of communication links under dynamic network conditions.Simulation experiments were conducted using realistic scenarios,varying the number of UAVs to assess scalability.An analysis was conducted on key performance metrics,including the packet delivery ratio,end-to-end delay,and total energy consumption.The results demonstrate that the proposed approach significantly improves the packet delivery ratio by 12%–15%and reduces delay by up to 25.5%when compared to conventional GEO and QGEO protocols.However,this improvement comes at the cost of higher energy consumption due to additional computations and control overhead.Despite this trade-off,the proposed solution ensures reliable and efficient communication,making it well-suited for large-scale UAV networks operating in complex urban environments.
文摘This paper investigates the traffic offloading optimization challenge in Space-Air-Ground Integrated Networks(SAGIN)through a novel Recursive Multi-Agent Proximal Policy Optimization(RMAPPO)algorithm.The exponential growth of mobile devices and data traffic has substantially increased network congestion,particularly in urban areas and regions with limited terrestrial infrastructure.Our approach jointly optimizes unmanned aerial vehicle(UAV)trajectories and satellite-assisted offloading strategies to simultaneously maximize data throughput,minimize energy consumption,and maintain equitable resource distribution.The proposed RMAPPO framework incorporates recurrent neural networks(RNNs)to model temporal dependencies in UAV mobility patterns and utilizes a decentralized multi-agent reinforcement learning architecture to reduce communication overhead while improving system robustness.The proposed RMAPPO algorithm was evaluated through simulation experiments,with the results indicating that it significantly enhances the cumulative traffic offloading rate of nodes and reduces the energy consumption of UAVs.
文摘With the rapid expansion of drone applications,accurate detection of objects in aerial imagery has become crucial for intelligent transportation,urban management,and emergency rescue missions.However,existing methods face numerous challenges in practical deployment,including scale variation handling,feature degradation,and complex backgrounds.To address these issues,we propose Edge-enhanced and Detail-Capturing You Only Look Once(EHDC-YOLO),a novel framework for object detection in Unmanned Aerial Vehicle(UAV)imagery.Based on the You Only Look Once version 11 nano(YOLOv11n)baseline,EHDC-YOLO systematically introduces several architectural enhancements:(1)a Multi-Scale Edge Enhancement(MSEE)module that leverages multi-scale pooling and edge information to enhance boundary feature extraction;(2)an Enhanced Feature Pyramid Network(EFPN)that integrates P2-level features with Cross Stage Partial(CSP)structures and OmniKernel convolutions for better fine-grained representation;and(3)Dynamic Head(DyHead)with multi-dimensional attention mechanisms for enhanced cross-scale modeling and perspective adaptability.Comprehensive experiments on the Vision meets Drones for Detection(VisDrone-DET)2019 dataset demonstrate that EHDC-YOLO achieves significant improvements,increasing mean Average Precision(mAP)@0.5 from 33.2%to 46.1%(an absolute improvement of 12.9 percentage points)and mAP@0.5:0.95 from 19.5%to 28.0%(an absolute improvement of 8.5 percentage points)compared with the YOLOv11n baseline,while maintaining a reasonable parameter count(2.81 M vs the baseline’s 2.58 M).Further ablation studies confirm the effectiveness of each proposed component,while visualization results highlight EHDC-YOLO’s superior performance in detecting objects and handling occlusions in complex drone scenarios.
