AI-based Navigation and Communication Control for a Team of UAVs with Reconfigurable Intelligent Surfaces Supporting Mobile Internet of Vehicles

Unmanned aerial vehicles (UAVs) are employed in wireless communication networks (WCNs) to improve coverage and quality. The applications of UAVs become problematic in the millimeters wave fifth-generation (5G) and beyond in the optical 6G WCNs because of two reasons: 1) higher path loss which means UAVs should fly at lower altitudes to be closer to the user's equipment; 2) complexities associated with a multi-input multi-output antenna to be incorporated in the UAV as an active aerial base station. We propose equipping UAVs with a (passive) reconfigurable intelligent surface (RIS) to resolve the issues with UAV-enabled wireless communication in 5G/6G. In this paper, the trajectory planning of the RIS-equipped UAV (RISeUAV) that renders aerial LoS service (ALoSS) is elaborated. The ALoSS facilitates vehicle-to-vehicle (V2V) and vehicle-to-everything (V2X) communication in obstructed dense urban environments for Internet-of-vehicles. (IoVs). To handle the nonconvexity and computation hardness of the optimization problem we use AI-based deep reinforcement learning to effectively solve the optimality and time complexity issues. Numerical simulation results assess the efficacy of the proposed method

Surveillance Planning against Smart Insurgents in Complex Terrain

This study is concerned with finding a way to solve a surveillance system allocation problem based on the need to consider intelligent insurgency that takes place in a complex geographical environment. Although this effort can be generalized to other situations, it is particularly geared towards protecting military outposts in foreign lands. The technological assets that are assumed available include stare-devices, such as tower-cameras and aerostats, as well as manned and unmanned aerial systems. Since acquiring these assets depends on the ability to control and monitor them on the target terrain, their operations on the geo-location of interest ought to be evaluated. Such an assessment has to also consider the risks associated with the environmental advantages that are accessible to a smart adversary. Failure to consider these aspects might render the forces vulnerable to surprise attacks. The problem of this study is formulated as follows: given a complex terrain and a smart adversary, what types of surveillance systems, and how many entities of each kind, does a military outpost need to adequately monitor its surrounding environment? To answer this question, an analytical framework is developed and structured as a series of problems that are solved in a comprehensive and realistic fashion. This includes digitizing the terrain into a grid of cell objects, identifying high-risk spots, generating flight tours, and assigning the appropriate surveillance system to the right route or area. Optimization tools are employed to empower the framework in enforcing constraints--such as fuel/battery endurance, flying assets at adequate altitudes, and respecting the climbing/diving rate limits of the aerial vehicles--and optimizing certain mission objectives--e.g. revisiting critical regions in a timely manner, minimizing manning requirements, and maximizing sensor-captured image quality. The framework is embedded in a software application that supports a friendly user interface, which includes the visualization of maps, tours, and related statistics. The final product is expected to support designing surveillance plans for remote military outposts and making critical decisions in a more reliable manner

Routing UAVs to Co-Optimize Mission Effectiveness and Network Performance with Dynamic Programming

In support of the Air Force Research Laboratory\u27s (AFRL) vision of the layered sensing operations center, command and control intelligence surveillance and reconnaissance (C2ISR) more focus must be placed on architectures that support information systems, rather than just the information systems themselves. By extending the role of UAVs beyond simply intelligence, surveillance, and reconnaissance (ISR) operations and into a dual-role with networking operations we can better utilize our information assets. To achieve the goal of dual-role UAVs, a concrete approach to planning must be taken. This research defines a mathematical model and a non-trivial deterministic algorithmic approach to determining UAV placement to support ad-hoc network capability, while maintaining the valuable service of surveillance activities

Shadow TUAV Single Operator Consolidation : Display Assessment

Currently, Shadow UAV operations require two people: the Air Vehicle Operator (AVO) and the Mission Payload Operator (MPO). A previous workload study demonstrated that it is possible to combine these two positions such that one person can assume both roles (Appendix A). However, to achieve this consolidation, improved displays in terms of usability and increased automated functionality will be necessary to keep the workload of the single operator to acceptable levels. To demonstrate the types of changes that will need to occur for successful AVO and MPO consolidation, this report focuses on display and automation improvements in the following three areas: systems management, vehicle situation awareness, and payload operations. For each of these areas, a previous display has either been designed or improved upon, always applying human factors design principles. Each of these display redesigns exemplifies how operator workload can be decreased, as well as improve overall mission capability

ENABLING WARFARE AT THE SPEED OF LIGHT: A COMPARATIVE ANALYSIS OF MULTI-MISSION HIGH ENERGY LASER RADARS

This capstone report provides a cost effectiveness analysis of various radar systems capable of guiding the Multi-Mission High Energy Laser (MMHEL) from a Stryker platform. The Army's Rapid Capability and Critical Technologies Office (RCCTO) is developing the MMHEL to provide a Mobile Short-Range Air Defense (MSHORAD) capability to maneuver units. The MMHEL requires a radar to cue the fire control system for target engagement. Past efforts to employ high-energy lasers have relied on large, stationary radars for target acquisition. The reliance on such radars limits a unit's ability to maneuver and results in the laser being employed primarily from a defensive posture. To maximize maneuverability and enable the offensive employment of the MMHEL, the U.S. Army needs an on-platform radar that is compact and inexpensive enough to equip multiple Strykers within a Stryker Brigade Combat Team with the capability to engage targets from a mobile platform. The RCCTO is currently tasked with accelerating efforts to fill this need. The intent of this report is to assist the RCCTO in these efforts by generating a list of viable radar alternatives and conducting a cost effectiveness analysis to produce a recommendation of the most optimal solution. The results indicate that RADA's aCHR radar presents the best value in terms of cost and benefit to the warfighter.http://archive.org/details/enablingwarfarea1094564109Captain, United States ArmyCaptain, United States ArmyMajor, United States ArmyCaptain, United States ArmyCaptain, United States ArmyApproved for public release; distribution is unlimited

Adaptive Path Planning for Depth Constrained Bathymetric Mapping with an Autonomous Surface Vessel

This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a bounding polygon, the ASV will find and follow the intersection of the bounding polygon and the depth contour as modeled online with a Gaussian Process (GP). This intersection, once mapped, will then be used as a boundary within which a path will be planned for coverage to build a map of the Bathymetry. Methods for sequential updates to GP's are described allowing online fitting, prediction and hyper-parameter optimisation on a small embedded PC. New algorithms are introduced for the partitioning of convex polygons to allow efficient path planning for coverage. These algorithms are tested both in simulation and in the field with a small twin hull differential thrust vessel built for the task.Comment: 21 pages, 9 Figures, 1 Table. Submitted to The Journal of Field Robotic

Feature Papers of Drones - Volume I

[EN] The present book is divided into two volumes (Volume I: articles 1–23, and Volume II: articles 24–54) which compile the articles and communications submitted to the Topical Collection ”Feature Papers of Drones” during the years 2020 to 2022 describing novel or new cutting-edge designs, developments, and/or applications of unmanned vehicles (drones). Articles 1–8 are devoted to the developments of drone design, where new concepts and modeling strategies as well as effective designs that improve drone stability and autonomy are introduced. Articles 9–16 focus on the communication aspects of drones as effective strategies for smooth deployment and efficient functioning are required. Therefore, several developments that aim to optimize performance and security are presented. In this regard, one of the most directly related topics is drone swarms, not only in terms of communication but also human-swarm interaction and their applications for science missions, surveillance, and disaster rescue operations. To conclude with the volume I related to drone improvements, articles 17–23 discusses the advancements associated with autonomous navigation, obstacle avoidance, and enhanced flight plannin

Methodology for precision landing of unmanned aerial vehicles on a mobile base

Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáThe integration of heterogeneous robotic systems is a constant topic today as a promising strategy to overcome the inherent limitations of each system. With this in view, this study explores the development of a precision landing system for Unmanned Aerial Vehicles (UAVs), designed to land autonomously on static and moving targets. To achieve this, a detailed analysis of aspects of the system is first carried out, such as the definition of the fiducial marker, the control architecture, and the definition of gains, followed by the development of the code, which includes the architecture and the interface with an operator. After development, tests begin which are divided into two stages: the first verifies the UAV’s ability to identify and follow moving targets, and the second consists of precision landing experiments in different scenarios. The results of the investigation indicate that the combination of a complete PID controller with Aruco markers is more effective, which is why they were selected for the development of the system. Tracking tests have proven the driver’s ability to guide the UAV to autonomously follow a UGV, although it presents difficulties with high angular speeds. On the other hand, autonomous landing tests showed high efficiency in constant speed scenarios but revealed some failures in situations with sudden changes and requests to the rotation driver.A integração de sistemas robóticos heterogêneos é um tópico constante atualmente como uma estratégia promissora para ultrapassar as limitações inerentes a cada sistema individualmente. Com isso, este estudo explora o desenvolvimento de um sistema de pouso de precisão para Veículos Aéreos Não Tripulados (UAVs), destinado a aterragens em alvos estáticos e em movimento autonomamente. Para isso, primeiro é feita uma análise detalhada de aspectos do sistema, como a definição do marcador fiducial, da arquitetura de controle e definição de ganhos, seguido do desenvolvimento do código, que inclui a arquitetura e a interface com o operador. Após o desenvolvimento, inicia-se os testes que se dividem em duas etapas: a primeira verifica a capacidade do UAV de identificar e seguir alvos em movimento, e a segunda consiste em experimentos de pouso de precisão em diversos cenários. Os resultados da investigação indicam que a combinação de um controlador PID completo com marcadores Aruco é mais eficaz, razão pela qual foram selecionados para o desenvolvimento do sistema. Os testes de rastreamento comprovaram a habilidade do controlador em orientar o UAV para seguir autonomamente um UGV, embora apresente dificuldades com velocidades angulares elevadas. Por outro lado, os testes de pouso autônomo mostraram alta eficiência em cenários de velocidade constante, mas revelaram algumas falhas em situações com mudanças bruscas e desafiadoras para o controlador de rotação

Unmanned Aerial Vehicle (UAV)-Enabled Wireless Communications and Networking

The emerging massive density of human-held and machine-type nodes implies larger traffic deviatiolns in the future than we are facing today. In the future, the network will be characterized by a high degree of flexibility, allowing it to adapt smoothly, autonomously, and efficiently to the quickly changing traffic demands both in time and space. This flexibility cannot be achieved when the network’s infrastructure remains static. To this end, the topic of UAVs (unmanned aerial vehicles) have enabled wireless communications, and networking has received increased attention. As mentioned above, the network must serve a massive density of nodes that can be either human-held (user devices) or machine-type nodes (sensors). If we wish to properly serve these nodes and optimize their data, a proper wireless connection is fundamental. This can be achieved by using UAV-enabled communication and networks. This Special Issue addresses the many existing issues that still exist to allow UAV-enabled wireless communications and networking to be properly rolled out