Search Results (635)

Ensuring the safe operation of Unmanned Aerial Vehicles (UAVs) is crucial for both mission-critical and safety-critical tasks. In scenarios where UAVs must track airborne targets, they need to follow the target’s path while maintaining a safe distance, even in the presence of unmodeled dynamics and environmental disturbances. This paper presents a novel collision avoidance strategy for dynamic quadrotor UAVs during target-tracking missions. We propose a safety controller that combines a learning-based Control Barrier Function (CBF) with standard sliding mode feedback. Our approach employs a neural network that learns the true CBF constraint, accounting for wind disturbances, while the sliding mode controller addresses unmodeled dynamics. This unified control law ensures safe leader-following behavior and precise trajectory tracking. By leveraging a learned CBF, the controller offers improved adaptability to complex and unpredictable environments, enhancing both the safety and robustness of the system. The effectiveness of our proposed method is demonstrated through the AirSim platform using the PX4 flight controller. Full article

This paper investigates the problem of computation offloading and resource allocation in an integrated space–air–sea network based on unmanned aerial vehicle (UAV) and low Earth orbit (LEO) satellites supporting Maritime Internet of Things (M-IoT) devices. Considering the complex, dynamic environment comprising M-IoT devices, UAVs and LEO satellites, traditional optimization methods encounter significant limitations due to non-convexity and the combinatorial explosion in possible solutions. A multi-agent deep deterministic policy gradient (MADDPG)-based optimization algorithm is proposed to address these challenges. This algorithm is designed to minimize the total system costs, balancing energy consumption and latency through partial task offloading within a cloud–edge-device collaborative mobile edge computing (MEC) system. A comprehensive system model is proposed, with the problem formulated as a partially observable Markov decision process (POMDP) that integrates association control, power control, computing resource allocation, and task distribution. Each M-IoT device and UAV acts as an intelligent agent, collaboratively learning the optimal offloading strategies through a centralized training and decentralized execution framework inherent in the MADDPG. The numerical simulations validate the effectiveness of the proposed MADDPG-based approach, which demonstrates rapid convergence and significantly outperforms baseline methods, and indicate that the proposed MADDPG-based algorithm reduces the total system cost by 15–60% specifically. Full article

Reconfigurable intelligent surfaces (RISs), recognized as one of the most promising key technologies for sixth-generation (6G) mobile communications, are characterized by their minimal energy expenditure, cost-effectiveness, and straightforward implementation. In this study, we develop a novel communication channel model that integrates RIS-enabled base stations with unmanned ground vehicles. To enhance the system’s adaptability, we implement a fluid antenna system (FAS) at the unmanned ground vehicle (UGV) terminal. This innovative model demonstrates exceptional versatility across various wireless communication scenarios through the strategic adjustment of active ports. The inherent dynamic reconfigurability of the FAS provides superior flexibility and adaptability in air-to-ground communication environments. In the paper, we derive and study key performance characteristics like the autocorrelation function (ACF), validating the model’s effectiveness. The results demonstrate that the RIS-FAS collaborative scheme significantly enhances channel reliability while effectively addressing critical challenges in 6G networks, including signal blockage and spatial constraints in mobile terminals. Full article

Terahertz (THz) wireless communications can support ultra-high data rates and secure wireless links with miniaturized devices for unmanned aerial vehicle (UAV) communications. In this paper, a three-dimensional (3D) non-stationary geometry-based stochastic channel model (GSCM) is proposed for multiple-input multiple-output (MIMO) communication links between the UAVs in the THz band. The proposed channel model considers not only the 3D scattering and reflection scenarios (i.e., reflection and scattering fading) but also the atmospheric molecule absorption attenuation, arbitrary 3D trajectory, and antenna arrays of both terminals. In addition, the statistical properties of the proposed GSCM (i.e., the time auto-correlation function (T-ACF), space cross-correlation function (S-CCF), and Doppler power spectrum density (DPSD)) are derived and analyzed under several important UAV-related parameters and different carrier frequencies, including millimeter wave (mmWave) and THz bands. Finally, the good agreement between the simulated results and corresponding theoretical ones demonstrates the correctness of the proposed GSCM, and some useful observations are provided for the system design and performance evaluation of UAV-based air-to-air (A2A) THz-MIMO wireless communications. Full article

The integration of reconfigurable intelligent surfaces (RISs) with non-terrestrial networks (NTNs), particularly those enabled by unmanned aerial vehicles (UAVs) or drone-based platforms, has emerged as a transformative approach to enhance 6G connectivity in high-mobility scenarios. UAV-assisted NTNs offer flexible deployment, dynamic altitude control, and rapid network reconfiguration, making them ideal candidates for RIS-based signal optimization. However, the high mobility of UAVs and their three-dimensional trajectory dynamics introduce unique challenges in maintaining robust, low-latency links and seamless handovers. This paper presents a comprehensive performance analysis of RIS-assisted UAV-based NTNs, focusing on optimizing RIS phase shifts to maximize the signal-to-interference-plus-noise ratio (SINR), throughput, energy efficiency, and reliability under UAV mobility constraints. A joint optimization framework is proposed that accounts for UAV path loss, aerial shadowing, interference, and user mobility patterns, tailored specifically for aerial communication networks. Extensive simulations are conducted across various UAV operation scenarios, including urban air corridors, rural surveillance routes, drone swarms, emergency response, and aerial delivery systems. The results reveal that RIS deployment significantly enhances the SINR and throughput while navigating energy and latency trade-offs in real time. These findings offer vital insights for deploying RIS-enhanced aerial networks in 6G, supporting mission-critical drone applications and next-generation autonomous systems. Full article

Aiming at the problems of the imprecise safety distance standards for low-altitude UAVs within complex low-altitude environments and the difficulty of managing heterogeneous vehicles, a UAV safety interval calibration method based on random heading is proposed. Firstly, a UAV clustering model based on K-Means++ was established for the performance characteristics of UAVs, using evaluation indexes such as contour coefficient, sum of squares of errors, Davidson–Bourdain index, etc. Then, combining this with the characteristics of UAVs with random heading, a UAV safety interval calibration model based on random heading was constructed, and the conflict probability and airspace utilization rate were determined and metered for UAV safety interval calibration. The experimental results showed that the profile coefficient, sum of squares of errors, and Davidson–Berding index of the iteratively optimized UAV clustering were optimized by 53.9%, 55.6%, and 46.6%, respectively, compared with the initial clustering results, and that the safe intervals calibrated in the experimental environment of a single category of UAVs were also applicable to the fusion airspace environment after validation. The research results can provide a theoretical basis and methodological support for the safety interval calibration of UAVs in low-altitude fusion operations. Full article

In recent years, the use of unmanned aerial vehicles (UAVs), commonly known as drones, has significantly surged across civil, military, and commercial sectors. Ensuring reliable and efficient communication between UAVs and between UAVs and base stations is challenging due to dynamic factors such as altitude, mobility, environmental obstacles, and atmospheric conditions, which existing communication models fail to address fully. This paper presents a multi-ray channel model that captures the complexities of the airspace network, applicable to both ground-to-air (G2A) and air-to-air (A2A) communications to ensure reliability and efficiency within the network. The model outperforms conventional line-of-sight assumptions by integrating multiple rays to reflect the multipath transmission of UAVs. The multi-ray channel model considers UAV flights’ dynamic and 3-D nature and the conditions in which UAVs typically operate, including urban, suburban, and rural environments. A technique that calculates the received power at a target UAV within a networked airspace is also proposed, utilizing the reflective characteristics of UAV surfaces along with the multi-ray channel model. The developed multi-ray channel model further facilitates the characterization and performance evaluation of G2A and A2A communications. Additionally, this paper explores the effects of various factors, such as altitude, the number of UAVs, and the spatial separation between them on the power received by the target UAV. The simulation outcomes are validated by empirical data and existing theoretical models, providing comprehensive insight into the proposed channel modelling technique. Full article

Maritime vision sensing can be applied to maritime unmanned systems to perform search and rescue (SAR) missions under complex marine environments, as multiple unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) are able to conduct vision sensing through the air, the water-surface, and underwater. However, in these vision-based maritime SAR systems, collaboration between UAVs and USVs is a critical issue for successful SAR operations. To address this challenge, in this paper, we propose a long-endurance collaborative SAR scheme which exploits the complementary strengths of the maritime unmanned systems. In this scheme, a swarm of UAVs leverages a multi-agent reinforcement-learning (MARL) method and probability maps to perform cooperative first-phase search exploiting UAV’s high altitude and wide field of view of vision sensing. Then, multiple USVs conduct precise real-time second-phase operations by refining the probabilistic map. To deal with the energy constraints of UAVs and perform long-endurance collaborative SAR missions, a multi-USV charging scheduling method is proposed based on MARL to prolong the UAVs’ flight time. Through extensive simulations, the experimental results verified the effectiveness of the proposed scheme and long-endurance search capabilities. Full article

This research discusses the application of Sentinel satellite data for monitoring air pollution in port areas. The Scopus and Web of Science databases were comprehensively analysed to identify relevant peer-reviewed literature and assess research publications. The systematic literature review was conducted using the PRISMA methodology for inclusion and exclusion criteria. A total of 519 articles were identified from which 70 relevant articles were finally selected and discussed in detail for their relevancy to the maritime environment. Sentinel-5P was found to have several use cases in the literature that are useful for measuring maritime air pollution, while Sentinel 1 and 2 were mainly used for other applications like oil spills and water quality, respectively. Although aerial surveys, like those conducted using unmanned aerial vehicles (UAVs), offer more precise estimates of greenhouse gases (GHGs), they are only useful for certain applications because the technology is costly and impractical for daily monitoring. Satellite-based sensors are the state of the art for obtaining remote observations of emissions in open sea. Sentinel-5P measurements offer daily data for air quality monitoring, which supports ground surveys to identify and penalize major emission sources and consequently support environmental management in accordance with contemporary policies. Pollutant concentration levels for the maritime sector can be analysed both spatially and temporally using Sentinel-5P data. In the future, addressing the limitations of the Sentinel-5P data, such as underestimation and source separation, could improve air pollution assessments. Full article

With the rapid development of the low-altitude economy, the intensive take-offs and landings of Unmanned Aerial Vehicles (UAVs) performing logistics transport tasks in urban areas have introduced significant safety risks. To reduce the likelihood of collisions, logistics operators—such as Meituan, Antwork, and Fengyi—have established fixed departure and arrival air routes above vertiports and designed fixed flight air routes between vertiports to guide UAVs to fly along predefined paths. In the complex and constrained low-altitude urban environment, the design of safe and efficient air routes has undoubtedly become a key enabler for successful operations. This research, grounded in both current theoretical research and real-world logistics UAV operations, defines the concept of UAV logistics air routes and presents a comprehensive description of their structure. A parametric model for one-way round-trip logistics air routes is proposed, along with an air route evaluation model and optimization method. Based on this framework, the research identifies four basic configurations that are commonly adopted for one-way round-trip operations. These configurations can be further improved into two optimized configurations with more balanced performance across multiple metrics. Simulation results reveal that Configuration 1 is only suitable for small-scale transport; as the number of delivery tasks increases, delays grow linearly. When the task volume exceeds 100 operations per 30 min, Configurations 2, 3, and 4 reduce average delay by 88.9%, 89.2%, and 93.3%, respectively, compared with Configuration 1. The research also finds that flight speed along segments and the cruise segment capacity have the most significant influence on delays. Properly increasing these two parameters can lead to a 28.4% reduction in the average delay. The two optimized configurations, derived through further refinement, show better trade-offs between average delay and flight time than any of the fundamental configurations. This research not only provides practical guidance for the planning and design of UAV logistics air routes but also lays a methodological foundation for future developments in UAV scheduling and air route network design. Full article

Polymer electrolyte membrane fuel cells (PEMFCs) are emerging as the next-generation powertrain for unmanned aerial vehicles (UAVs) due to their high energy density and long operating duration. PEMFCs are subject to icing and performance degradation problems at sub-zero temperatures, especially at high altitudes. Therefore, an effective preheating system is required to ensure stable PEMFC operation in high-altitude environments. This study aimed to mathematically model a shell-and-tube heat exchanger that utilizes waste heat recovery to prevent internal and external PEMFC damage in cold, high-altitude conditions. The waste heat from the PEMFC is estimated based on the thrust of the MQ-9 Reaper, and the proposed heat exchanger must be capable of heating air to −5 °C. As the heat exchanger utilizes only waste heat, the primary energy consumption arises from the coolant pumping process. Calculation results indicated that the proposed heat exchanger design improved the overall system efficiency by up to 15.7%, demonstrating its effectiveness in utilizing waste heat under aviation conditions. Full article

Urban Air Mobility (UAM) requires reliable communication and surveillance infrastructures to ensure safe Unmanned Aerial Vehicle (UAV) operations in dense metropolitan environments. However, urban infrastructure is inherently heterogeneous, leading to significant spatial variations in monitoring performance. This study proposes a unified framework that integrates infrastructure readiness assessment with Deep Reinforcement Learning (DRL)-based UAV path planning. Using Singapore as a representative case, we employ a data-driven methodology combining clustering analysis and in situ measurements to estimate the citywide distribution of surveillance quality. We then introduce an infrastructure-aware path planning algorithm based on a Double Deep Q-Network (DQN) with a convolutional architecture, which enables UAVs to learn efficient trajectories while avoiding surveillance blind zones. Extensive simulations demonstrate that the proposed approach significantly improves path success rates, reduces traversal through poorly monitored regions, and maintains high navigation efficiency. These results highlight the potential of combining infrastructure modeling with DRL to support performance-aware airspace operations and inform future UAM governance systems. Full article

As urban populations expand and congestion intensifies, traditional ground transportation struggles to satisfy escalating mobility demands. Unmanned Electric Vertical Take-Off and Landing (eVTOL) aircraft, as a key enabler of Urban Air Mobility (UAM), leverage low-altitude airspace to alleviate ground traffic while offering environmentally sustainable solutions. However, supporting high bandwidth, real-time video applications, such as Virtual Reality (VR), Augmented Reality (AR), and 360° streaming, remains a major challenge, particularly within bandwidth-constrained metropolitan regions. This study proposes a novel Unmanned Aerial Vehicle (UAV)-enabled video streaming architecture that integrates 6G wireless technologies with intelligent routing strategies across cooperative airborne nodes, including unmanned eVTOLs and High-Altitude Platform Systems (HAPS). By relaying video data from low-congestion ground base stations to high-demand urban zones via autonomous aerial relays, the proposed system enhances spectrum utilization and improves streaming stability. Simulation results validate the framework’s capability to support immersive media applications in next-generation autonomous air mobility systems, aligning with the vision of scalable, resilient 3D transportation infrastructure. Full article

Unmanned aerial vehicles (UAVs), owing to their flexible coverage expansion and dynamic adjustment capabilities, hold significant application potential across various fields. With the emergence of urban low-altitude air traffic dominated by UAVs, the integrated aviation information network combining UAVs and manned aircraft has evolved into a complex space–air–ground integrated Internet of Things (IoT) system. The application of 5G/6G network technologies, such as cloud computing, network function virtualization (NFV), and edge computing, has enhanced the flexibility of air traffic services based on service function chains (SFCs), while simultaneously expanding the network attack surface. Compared to traditional networks, the aviation information network integrating UAVs exhibits greater heterogeneity and demands higher service reliability. To address the failure issues of SFCs under attack, this study proposes an efficient SFC recovery method for recovery rate optimization (ERRRO) based on virtual network functions (VNFs) migration technology. The method first determines the recovery order of failed SFCs according to their recovery costs, prioritizing the restoration of SFCs with the lowest costs. Next, the migration priorities of the failed VNFs are ranked based on their neighborhood certainty, with the VNFs exhibiting the highest neighborhood certainty being migrated first. Finally, the destination nodes for migrating the failed VNFs are determined by comprehensively considering attributes such as the instantiated SFC paths, delay of physical platforms, and residual resources. Experiments demonstrate that the ERRRO performs well under networks with varying resource redundancy and different types of attacks. Compared to methods reported in the literature, the ERRRO achieves superior performance in terms of the SFC recovery rate and delay. Full article

The accurate and reliable positioning of unmanned aerial vehicles (UAVs) in urban environments is crucial for urban air mobility (UAM) application, such as logistics, surveillance, and disaster management. However, global navigation satellite systems (GNSSs) often fail in densely populated areas due to signal reflections (multipath propagation) and obstructions non-line-of-sight (NLOS), causing significant positioning errors. To address this, we propose a machine learning (ML) framework that integrates 5G position reference signals (PRSs) to correct UAV position estimates. A dataset was generated using MATLAB’s UAV simulation environment, including estimated coordinates derived from 5G time of arrival (TOA) measurements and corresponding actual positions (ground truth). This dataset was used to train a fully connected feedforward neural network (FNN), which improves the positioning accuracy by learning patterns between predicted and actual coordinates. The model achieved significant accuracy improvements, with a mean absolute error (MAE) of 1.3 m in line-of-sight (LOS) conditions and 1.7 m in NLOS conditions, and a root mean squared error (RMSE) of approximately 2.3 m. The proposed framework enables real-time correction capabilities for dynamic UAV tracking systems, highlighting the potential of combining 5G positioning data with deep learning to enhance UAV navigation in urban settings. This study addresses the limitations of traditional GNSS-based methods in dense urban environments and offers a robust solution for future UAV advancements. Full article