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Optimal deployment of swarm positions in cooperative interception of multiple uav swarms

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Digital Communications and Networks 2023年第2期9卷 567-579页

作者： Chengcai Wang Ao Wu Yueqi Hou Xiaolong Liang Luo Xu Xiaomo Wang The Academician Workstation of Wang Xiaomo CETC Ocean Information Co.LtdLingshui572400China The Aviaiton swarm Technology and Operational Application Laboratory Air Force Engineering UniversityXi'an710051China The Information Science Academy CETCBeijing100041China

In order to prevent the attacker from breaking through the blockade of the interception,deploying multiple Unmanned Aerial Vehicle(uav)swarms on the interception line is a new combat style.To solve the optimal deployment of swarm positions in the cooperative interception,an optimal deployment optimization model is presented by minimizing the penetration zones'area and the analytical expression of the optimal deployment positions is deduced.Firstly,from the view of the attackers breaking through the interception line,the situations of vertical penetration and oblique penetration are analyzed respectively,and the mathematical models of penetration zones are obtained under the condition of a single uav swarm and multiple uav swarms.Secondly,based on the optimization goal of minimizing the penetration area,the optimal deployment optimization model for swarm positions is proposed,and the analytical solution of the optimal deployment is solved by using the convex programming theory.Finally,the proposed optimal deployment is compared with the uniform deployment and random deployment to verify the validity of the theoretical analysis.

关键词： uav swarm Cooperative interception Deployment optimization Convex programming

A Dual-Cluster-Head Based Medium Access Control for Large-Scale uav Ad-Hoc Networks

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China Communications 2024年第5期21卷 123-136页

作者： Zhao Xinru Wei Zhiqing Zou Yingying Ma Hao Cui Yanpeng Feng Zhiyong Key Laboratory of Universal Wireless Communications Ministry of EducationSchool of Information and Communication EngineeringBeijing University of Posts and TelecommunicationsBeijing100876China

Unmanned Aerial Vehicle(uav)ad hoc network has achieved significant growth for its flexibility,extensibility,and high deployability in recent years.The application of clustering scheme for uav ad hoc network is imperative to enhance the performance of throughput and energy efficiency.In conventional clustering scheme,a single cluster head(CH)is always assigned in each cluster.However,this method has some weaknesses such as overload and premature death of CH when the number of uavs increased.In order to solve this problem,we propose a dual-cluster-head based medium access control(DCHMAC)scheme for large-scale uav networks.In DCHMAC,two CHs are elected to manage resource allocation and data forwarding cooperatively.Specifically,two CHs work on different channels.One of CH is used for intra-cluster communication and the other one is for inter-cluster communication.A Markov chain model is developed to analyse the throughput of the network.Simulation result shows that compared with FM-MAC(flying ad hoc networks multi-channel MAC,FM-MAC),DCHMAC improves the throughput by approximately 20%~50%and prolongs the network lifetime by approximately 40%.

关键词： dual cluster head medium access control uav swarm

Security Enhancement of uav swarm Enabled Relaying Systems with Joint Beamforming and Resource Allocation

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China Communications 2021年第9期18卷 71-87页

作者： Runze Dong Buhong Wang Kunrui Cao School of Information and Navigation Air Force Engineering UniversityXi’an 710077China School of Information and Communications National University of Defense TechnologyXi’an 710106China

The high mobility of unmanned aerial vehicles(uavs)could bring abundant degrees of freedom for the design of wireless communication systems,which results in that uavs,especially uav swarm,have attracted considerable attention.This paper considers a uav swarm enabled relaying communication system,where multiple uav relays are organized via coordinated multiple points(CoMP)as a uav swarm to enhance physical layer security of the system in the presence of an eavesdropper.In order to maximize achievable secrecy rate of downlink,we jointly optimize the beamforming vector of the virtual array shaped by the uav swarm and bandwidth allocation on it for receiving and forwarding,and both amplify-and-forward(AF)and decode-andforward(DF)protocols are considered on the uav swarm.Due to the non-convexity of the joint optimization problem,we propose an alternating optimization(AO)algorithm to decompose it into two subproblems utilizing block coordinate descent technique,then each subproblem is solved by successive convex optimization method.Simulation results demonstrate that DF has competitive performance advantage compared with AF and the superiority of the proposed secure transmission strategy with optimal beamforming and bandwidth allocation compared with benchmark strategies.

关键词： uav swarm physical layer security beamforming bandwidth allocation optimization

Real-Time Path Planning Algorithm for uav swarm on Complex Terrain Based on Multi-objective Particle swarm Optimization

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Real-Time Path Planning Algorithm for UAV Swarm on Complex T...

Topology tracking of dynamic uav wireless networks

2021中国智能自动化大会(CIAC2021)

作者： Xiaorui Wu Zhen Xu Qingwei Chen Zhuo Huang Rui Zhang School of Automation Nanjing University of Science and Technology

To solve the problem of real-time collaborative path planning for uav swarm, this paper proposes an advanced real-time path planning algorithm for uav swarm on complex terrain based on multi-objective particle swarm optimization. The proposed algorithm divides uav swarm path planning into two stages.In the first stage, the multi-objective particle swarm optimization algorithm is adopted to process the static environment information rapidly. Then, several nondominated feasible paths based on reference point method can be selected. These non-dominated feasible paths are used as the preset flight direction of uav swarm.In the second stage, the dynamic of the quadrotor uav is taken into consideration for the uav swarm path planning. In order to achieve collision avoidance and obstacle avoidance in the paths, develop the collision-free flocking behavior for a dynamic squad of quadrotor uavs. Finally, the experimental results demonstrate the capabilities of our proposed algorithm, and the uav swarm can reach the target’s neighborhood at the same time.

关键词： Path planning MOPSO uav swarm

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Chinese Journal of Aeronautics 2022年第11期35卷 322-335页

作者： Yehui SONG Guoru DING Jiachen SUN Jinghua LI Yitao XU College of Communications Engineering Army Engineering University of PLANanjing 210007China

Wireless network is the communication foundation that supports the intelligentization of Unmanned Aerial Vehicle(uav) swarm. The topology of uav communication network is the key to understanding and analyzing the behavior of uav swarm, thus supporting the further prediction of uav operations. However, the uav swarm network topology varies over time due to the high mobility and diversified mission requirements of uavs. Therefore, it is important but challenging to research dynamic topology inference for tracking the topology changes of the uav network,especially in non-cooperative manner. In this paper, we study the problem of inferring uav swarm network topology based on external observations, and propose a dynamic topology inference method. First, we establish a sensing framework for acquiring the communication behavior of the target network over time. Then, we expand the multi-dimensional dynamic Hawkes process to model the communication event sequence in a dynamic wireless network. Finally, combining the sliding time window mechanism, the maximum weighted likelihood estimation is applied to inferring the network topology. Extensive simulation results demonstrate the effectiveness of the proposed method.

关键词： Dynamic topology inference Event detection Hawkes process uav swarm Wireless networks

Live-fly experimentation for pigeon-inspired obstacle avoidance of quadrotor unmanned aerial vehicles

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Science China(Information Sciences) 2019年第5期62卷 161-168页

作者： Mengzhen HUO Haibin DUAN Qing YANG Daifeng ZHANG Huaxin QIU Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University (BUAA)

In this paper, we applied a pigeon-inspired obstacle-avoidance model to the flight of quadrotor uavs through environments with obstacles. Pigeons bias their flight direction by considering the largest gap and minimum required steering. Owing to the similarities between pigeon flocks and uav swarms in terms of mission requirements, the pigeon-inspired obstacle-avoidance model is used to control a uav swarm so that it can fly through a complex environment with multiple obstacles. The simulation and flight results illustrate the viability and superiority of pigeon-inspired obstacle avoidance for quadrotor uavs.

关键词： uav swarm pigeon flock pigeon-inspired model obstacle-avoidance live-fly experimentation

Leveraging partially overlapping channels for intra-and inter-coalition communication in cooperative uav swarms

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Science China(Information Sciences) 2021年第4期64卷 68-83页

作者： Kailing YAO Yuhua XU Hong LI Jin CHEN Shihua ZHANG Xingyue YU College of Communications Engineering PLA Army Engineering University Nanjing Military Representative Bureau of PLA Rocket Force

Cooperative uav swarms typically adopt coalition-based network structures for executing tasks more efficiently. Coalition heads in such networks need to do both intra-and inter-coalition communication and may operate on different channels. While being equipped with multiple transceivers or switching among channels are alternative methods, this option would result in larger payload or incur delays. Fortunately,partially overlapping channels(POCs) can be used to forward messages on different channels since communication can be made on adjacent overlapped channels. This can help realize both intra-and inter-coalition communication with heads being equipped with only one transceiver and no switching. Therefore, this paper proposes a POC-based communication method where each coalition selects one of the POCs and uavs in the same coalition operating on the same channel. While POCs enable information exchange among coalitions,they also incur inter-coalition interference and therefore the POC access problem is investigated. Owing to the coupled relationships among the strategies of coalitions, the problem is a combinatorial optimization one and an online learning algorithm is proposed. The algorithm is distributed and reduces the computation complexity to a great extent. Based on the knowledge of the potential game theory, the algorithm is proved to converge to the optimal solution of each stage asymptotically. Under three representative settings,simulations are made to verify the effectiveness of the proposed method.

关键词： uav swarm coalition partially overlapping channel learning algorithm game theory

On Connectivity of Flying Ad Hoc Networks in the Presence of Ground Terminal

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China Communications 2021年第9期18卷 1-10页

作者： Chao Liu Zhongshan Zhang School of Computer and Communication Engineering University of Science and Technology(USTB)BeijingBeijing 100083China School of Information and Electronics Beijing Institute of Technology(BIT)Beijing 100081China

The Unmanned Aerial Vehicle(uav)technologies are envisioned to play an important role in the era of Air-Space-Ground integrated networks.In this paper,we investigate the connectivity of a Flying Ad hoc Network(FANET)in the presence of a groundbased terminal.In particular,the connected probability of the uav-to-uav (U2U) link as well as that of the uav-to-Ground (U2G) link in a three dimensional (3D) space are analyzed.Furthermore,to mitigate the aggregate interference from uav individuals,a priority based power control scheme is implemented for enhancing the connectivity of both U2U and U2G links.Numerical results illustrate the effectiveness of the proposed analysis.

关键词： flying ad hoc network uav swarm connectivity power control connected probability

Collaborative visual SLAM for multiple agents:A brief survey

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Virtual Reality & Intelligent Hardware 2019年第5期1卷 461-482页

作者： Danping ZOU Ping TAN Wenxian YU Shanghai Key Laboratory of Navigation and Location-Based Services Shanghai Key Laboratory of Intelligent Sensing and RecognitionShanghai Jiao Tong UniversityShanghai 200240China School of Computing Science Simon Fraser UniversityBurnaby V5A 1S6Canada

This article presents a brief survey to visual simultaneous localization and mapping (SLAM) systems applied to multiple independently moving agents, such as a team of ground or aerial vehicles, a group of users holding augmented or virtual reality devices. Such visual SLAM system, name as collaborative visual SLAM, is different from a typical visual SLAM deployed on a single agent in that information is exchanged or shared among different agents to achieve better robustness, efficiency, and accuracy. We review the representative works on this topic proposed in the past ten years and describe the key components involved in designing such a system including collaborative pose estimation and mapping tasks, as well as the emerging topic of decentralized architecture. We believe this brief survey could be helpful to someone who are working on this topic or developing multi-agent applications, particularly micro-aerial vehicle swarm or collaborative augmented/virtual reality.

关键词： Visual SLAM Multiple agent uav swarm Collaborative AR/VR