{"title":"How to Learn on the Fly? On Improving the Uplink Throughput Performance of UAV-Assisted Sensor Networks","authors":"Naresh Babu Kakarla, V. Mahendran","doi":"10.1145/3597060.3597242","DOIUrl":"https://doi.org/10.1145/3597060.3597242","url":null,"abstract":"In UAV-assisted sensor networks, the random and unknown duty cycling of battery-powered ground Sensor Nodes (SNs) (such as wireless IoT devices) can significantly affect both energy consumption and communication performance of the data-collecting UAVs. The state of the art typically assumes a unified system with a coherent design of UAV and SNs, wherein the SNs' behavior is considered to be known, and accordingly the mobility of UAV is planned. In practical settings, however, SNs and UAVs can possibly be administered by independent stakeholders. In such an independent system, the UAV needs to learn (in online) its trajectory by understanding the random behavior of SNs in order to improve the uplink communication performance. In the independently administered UAV-assisted sensor networks, the task of maximizing the uplink throughput performance can be formulated as a sequential stochastic decision process. The key challenge of this formulation lies in choosing suitable online learning methods and selecting network parameters that help to learn and improve the throughput performance effectively. To this end, this work gives a principled approach to studying the effects of various learning methods and ways to incorporate network parameters to improve the throughput performance. The resultant online learning algorithm is demonstrated to exhibit superior performance in the extensive simulation-based evaluation study.","PeriodicalId":315437,"journal":{"name":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121567462","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Enrique Caballero, Aymen Fakhreddine, C. Bettstetter
{"title":"Interference by Drones to 5G Ground Users: A Simulation Study","authors":"Enrique Caballero, Aymen Fakhreddine, C. Bettstetter","doi":"10.1145/3597060.3597238","DOIUrl":"https://doi.org/10.1145/3597060.3597238","url":null,"abstract":"This work studies the issue of inter-cell interference that arises when drones are integrated into cellular networks. Using the Vienna 5G System Level Simulator, augmented with a drone-specific 3GPP path loss model, we demonstrate that uplink transmissions from regular ground users may experience significant degradation of signal-to-interference ratio and achievable throughput. Transmit power control in drones could alleviate this degradation while maintaining an acceptable link quality for the drones themselves.","PeriodicalId":315437,"journal":{"name":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","volume":"266 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120888321","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"DroneChase: A Mobile and Automated Cross-Modality System for Continuous Drone Tracking","authors":"Neel Vora, Yi Wu, Jian Liu, Phuc Nguyen","doi":"10.1145/3597060.3597237","DOIUrl":"https://doi.org/10.1145/3597060.3597237","url":null,"abstract":"This paper presents DroneChase, an automated sensing system that monitors acoustic and visual signals captured from a nearby flying drone to track its trajectory in both line-of-sight and non-line-of-sight conditions under mobility settings. Although drone monitoring has been an active research topic, most of the existing monitoring systems focus only on line-of-sight conditions and do not perform well under blockage conditions. Inspired by the human ability to localize objects in the environment using both visual and auditory signals, we develop a mobile system that integrates the information from multiple modalities into a reference scenario and performs real-time drone detection and trajectory monitoring. Our developed system, controlled by the Raspberry Pi platform, collects acoustic signals from 6 hexagonal channels placed 5 cm away from each other and video signals from an HD RGB camera. The monitoring system is placed in a moving vehicle and is able to track the drone even when it is flying/hovering behind the bush or trees. Furthermore, the portability of the system enables continuous chasing of the drone, allowing for uninterrupted monitoring and tracking even while on the move. In addition, the proposed system performs reliably in both day and night conditions.","PeriodicalId":315437,"journal":{"name":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132216813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tasnim Azad Abir, E. Kuantama, Richard Han, Judith M. Dawes, R. Mildren, Phuc Nguyen
{"title":"Towards Robust Lidar-based 3D Detection and Tracking of UAVs","authors":"Tasnim Azad Abir, E. Kuantama, Richard Han, Judith M. Dawes, R. Mildren, Phuc Nguyen","doi":"10.1145/3597060.3597236","DOIUrl":"https://doi.org/10.1145/3597060.3597236","url":null,"abstract":"In this paper, we study the robustness of lidar-based 3D detection & tracking of UAVs. We investigate the effective detection ranges of different UAVs based on their construction materials and the effective range & 3D detection performance of a specific UAV at different atmospheric visibility conditions. Further, we examine to what extent lidar-based systems can track a drone's trajectories via real-world experiments and point cloud data processing. Using a COTS lidar-based system (Livox Mid-40), we confirm that we can track UAVs in a fine-grained manner at up to 80m distance under various environmental conditions (i.e., morning, afternoon, and night).","PeriodicalId":315437,"journal":{"name":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131887200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Analytical Description of Access Probability and RRA strategy for UAV-Aided Vehicular Applications","authors":"F. Conserva, R. Verdone","doi":"10.1145/3597060.3597241","DOIUrl":"https://doi.org/10.1145/3597060.3597241","url":null,"abstract":"In this paper we investigate a scenario where vehicles implement an augmented sensing application and exchange data through Unmanned Aerial Vehicles (UAVs) (a.k.a. drones). The UAVs carry Base Stations (BSs) using multiple antenna beams to cover the ground; they receive data from the cars in the uplink and forward them in the downlink. The objective of this work is to build an analytical framework that provides an expression of the Access Probability, i.e., the probability that the ground user is both covered by one UAV's beam and is assigned enough radio resources to successfully transmit in uplink its traffic demand. We also provide an optimization of the Radio Resources Assignment (RRA) process by comparing two different RRA techniques. Our approach allows to determine the optimal UAV's height and antenna aperture angle as a function of many parameters, including the available bandwidth.","PeriodicalId":315437,"journal":{"name":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","volume":"44 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133990110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"DroNS-3: Framework for Realistic Drone and Networking Simulators","authors":"Peter Hall, J. Diller, Ava Moon, Qifeng Han","doi":"10.1145/3597060.3597239","DOIUrl":"https://doi.org/10.1145/3597060.3597239","url":null,"abstract":"Wireless communication in autonomous mobile agents has an inhibitive barrier to entry, especially in unmanned areal vehicles (UAV). This paper presents DroNS-3, a comprehensive library that aims to significantly lower the barrier to entry into the field of UAV research, reduce the risk of expensive mistakes, and make interfacing with leading flight and networking simulators simpler. DroNS-3 integrates the Ardupilot drone simulator with the NS-3 network simulator and provides an easy platform for quickly designing autonomous missions both in simulation and on physical drone platforms. The DroNS-3 autopilot library has already been successfully utilized during test flights and simulations for our published research and has been made open-source with supporting documentation on GitHub, making it a useful tool for the research community.","PeriodicalId":315437,"journal":{"name":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125020934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Object Recognition Offloading in Augmented Reality Assisted UAV-UGV Systems","authors":"Chenyang Wang, Benjamin P. Carlson, Qifeng Han","doi":"10.1145/3597060.3597240","DOIUrl":"https://doi.org/10.1145/3597060.3597240","url":null,"abstract":"A multi-UAV-UGV system combines the advantages of both UAVs and UGVs, hence it can be used for challenging missions. When incorporated with Augmented Reality (AR), such a system can better involve humans in the loop to either provide feedback to robots' plans or make informed decisions. One common problem in such a system is object recognition. To conserve energy on the UAVs, offloading part of the computation in object recognition is considered. In this paper, we propose and implement two offloading techniques. We compare them against two baselines: zero offloading (i.e., all local computation) and full offloading (i.e., all offloaded to UGV) by implementing these strategies on the three most popular onboard computers on UAVs: Raspberry Pi 4, Jetson Nano, and Jetson Xavier NX. We use a laptop to represent the onboard computer on a UGV. Our experimental results validate the feasibility and benefit of object recognition task offloading in a multi-UAV-UGV setting and also highlight the need for a more effective offloading strategy.","PeriodicalId":315437,"journal":{"name":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128325160","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Rishabh Goel, Tien Pham, Phuc Nguyen, Josiah D. Hester
{"title":"Exploring Batteryless UAVs by Mimicking Bird Flight","authors":"Rishabh Goel, Tien Pham, Phuc Nguyen, Josiah D. Hester","doi":"10.1145/3597060.3597243","DOIUrl":"https://doi.org/10.1145/3597060.3597243","url":null,"abstract":"We demonstrate the first flight of battery-free, energy harvesting, and small-sized Unmanned Aerial Vehicle (UAV). UAVs' flight times are severely constrained due to being forced to navigate the tradeoff between battery energy storage and weight. Even for UAVs that recharge their batteries mid-flight, eventually, the batteries must be replaced. We explore a new paradigm of UAVs that can survive entirely off energy harvested from the sun. These UAVs store energy momentarily in small super-capacitors before using that energy to create lift. By removing the requirement for battery recharging and replacement, these UAVs can provide extended flight times and open up new applications. Unfortunately, the design space for these UAVs is complex and interdependent. Materials, wing structure, UAV type, motor and harvester efficiency, environmental effects, and many other things significantly affect the aircraft's performance. We engage in a principled design space exploration of various UAV designs to reach battery-free mechanical flight. We explore and test multiple prototypes before landing on an ornithopter-like UAV with a solar rack on top and a single BLDC motor. We then perform the first flight of a battery-free ornithopter. This is the first work to explore zero maintenance long-term flight for small craft and could enable numerous new applications that require large-scale, sustained aircraft flight, such as wildfire monitoring, smart agriculture, and urban air quality assessment.","PeriodicalId":315437,"journal":{"name":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120965601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","authors":"","doi":"10.1145/3597060","DOIUrl":"https://doi.org/10.1145/3597060","url":null,"abstract":"","PeriodicalId":315437,"journal":{"name":"Proceedings of the Ninth Workshop on Micro Aerial Vehicle Networks, Systems, and Applications","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133135406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}