In Situ MIMOWPT Recharging of UAVs Using Intelligent Flying Energy Sources
Abstract
:1. Introduction
2. Related Works
3. System Description
3.1. UAVs Recharging Architecture
3.2. Proposed Trajectory Selection Algorithm
 Agent (tUAV) observes the current state and takes actions. There are multiple agents in our scenario. To keep the model simple, we implemented multiple tUAV system as a single agent PPO with multiple actions.
 State (S) is defined based on the observed information of rUAVs and the current location of tUAV. Thus, we define the system state as $S=\{{L}_{c},{L}_{h},{B}_{h}\}$ where ${L}_{c}$ is the location of tUAVs, ${L}_{h}=[{L}_{{h}_{1}},{L}_{{h}_{2}},\dots ,{L}_{{h}_{Z}}]$ is a vector that denotes the locations of rUAV1 to rUAVz and ${B}_{h}=[{B}_{{h}_{1}},{B}_{{h}_{2}},\dots ,{B}_{{h}_{Z}}]$ is a vector that denotes their battery levels.
 Action (a) is defined as flying to hovering above certain rUAVs. Hence, the number of possible actions is equal to number of rUAVs. The PPO algorithm implements a function approximator $\mu \left(S\right)$ that takes state S and returns the probabilities of taking each action in the action space.
 Revenue (R) is the combination of rewards and penalties after taking action a at state S and moving to state ${S}^{\prime}$. It returns a reward for the energy that all rUAVs receive from tUAV and/or applies a penalty if an rUAV has to move to a terrestrial charging station due to low battery. R is formulated as:$$R(S,a,{S}^{\prime})={w}_{1}{\int}_{T}{P}_{r}\phantom{\rule{0.166667em}{0ex}}\mathrm{d}t+{w}_{2}{N}_{o}+{w}_{3}{B}_{l}+{w}_{4}{B}_{f}+{w}_{5}Q$$$$\begin{array}{cc}\hfill \phantom{\rule{1.em}{0ex}}& {B}_{low}=\sum _{k=1}^{Z}{\overline{B}}_{k}\phantom{\rule{4pt}{0ex}},\phantom{\rule{4pt}{0ex}}\phantom{\rule{4pt}{0ex}}\phantom{\rule{4pt}{0ex}}\phantom{\rule{4pt}{0ex}}\mathrm{while}\hfill \\ \hfill \phantom{\rule{1.em}{0ex}}& \phantom{\rule{1.em}{0ex}}{\overline{B}}_{k}=\left\{\begin{array}{cc}0.05{B}_{max}{B}_{{h}_{k}}\hfill & if\phantom{\rule{1.em}{0ex}}{B}_{{h}_{k}}\le 0.05{B}_{max}\hfill \\ 0\hfill & \mathrm{otherwise}\hfill \end{array}\right.,\hfill \end{array}$$
Algorithm 1: tUAV Trajectory Algorithm. 

4. Performance Evaluation
4.1. Simulation Setup
 Traveling Salesman Problem (TSP): Each tUAV recharges a group of three rUAVs periodically and in order. The groups and orders should be selected so that the traveling times of the tUAVs are minimized. We solve the TSP using an iterative approach to find the best two groups to be served by the two tUAVs.
 Lowest Battery First (LBF): The tUAVs target to serve the rUAVs with the minimum battery level at each time step.
4.2. Results
5. Conclusions and Future Work
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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Simulation Component  Value 

Transmit power of each subband ${P}_{s}$  1 $\mathrm{Watt}$ 
Antenna element gain ${G}_{t},{G}_{r}$  16 dBi 
Number of antenna on tUAV ${m}_{t}$  256 
Number of antenna on rUAV ${m}_{r}$  256 
Number of subbands N  200 
Subband’s width  10 $\mathrm{MHz}$ 
Cell side  10 m 
Charging Wave Frequency range  25–27 $\mathrm{GHz}$ 
Learning rate  0.4 
Discount factor  0.95 
rUAV power consumption  50 ± 10 $\mathrm{Watt}$ 
rUAV battery capacity  30 Watthour (108 $\mathrm{kJ}$) 
Time step  30 or more s 
Revenue adjusting weights (${w}_{1},{w}_{2},{w}_{3},{w}_{4},{w}_{5}$)  0.001, −10,000, −0.0001, −0.00003, −10,000 
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Hoseini, S.A.; Hassan, J.; Bokani, A.; Kanhere, S.S. In Situ MIMOWPT Recharging of UAVs Using Intelligent Flying Energy Sources. Drones 2021, 5, 89. https://doi.org/10.3390/drones5030089
Hoseini SA, Hassan J, Bokani A, Kanhere SS. In Situ MIMOWPT Recharging of UAVs Using Intelligent Flying Energy Sources. Drones. 2021; 5(3):89. https://doi.org/10.3390/drones5030089
Chicago/Turabian StyleHoseini, Sayed Amir, Jahan Hassan, Ayub Bokani, and Salil S. Kanhere. 2021. "In Situ MIMOWPT Recharging of UAVs Using Intelligent Flying Energy Sources" Drones 5, no. 3: 89. https://doi.org/10.3390/drones5030089