Category Archives: Publications

Paper accepted in IEEE Networking Letters

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Paper entitled “Dynamic Relay Selection and Positioning for Cooperative UAV Networks” is accepted for publication in IEEE Networking Letters.

This letter analyzes resource reservation for networking purposes in drone teams deployed for search and rescue missions. Building on a well-known static relay positioning technique that minimizes the number of drones, we propose a positioning and trajectory planning algorithm for relay nodes to provide connectivity to drones that are on a search and rescue mission.

Paper accepted in Autonomous Robots

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Our paper entitled “Multi-objective drone path planning for search and rescue with quality-of-service requirements” is accepted for publication in Autonomous Robots.

In this paper, we incorporate communication into the multi-UAV path planning problem for search and rescue missions to enable dynamic task allocation via information dissemination. The mission tasks are defined as: search, inform, and monitor at the best possible link quality. Proposed strategies utilize information as soon as it becomes available to determine UAV tasks and can be tuned to prioritize certain tasks in relation to others. We illustrate that more tasks can be performed in the given mission time by efficient incorporation of communication in the path design.

Paper accepted in IEEE Transactions on Mobile Computing

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Our paper entitled “Take the Field from your Smartphone: Leveraging UAVs for Event Filming” is accepted for publication in IEEE TMC.

This paper formulates an event coverage problem, namely, Sport Event Filming, with Connectivity Constraints, in which  a team of Unmanned Aerial Vehicles (UAV) fly over a limited field in order to track the movements of an object (e.g., of the ball) and to deliver a video stream of the events (e.g., ball passes, goals) to the spectators meeting certain timeliness and video quality criteria. In addition to a mathematical model that determines the sequence of optimum movements for the UAVs, we also provide dynamic, artificial potential function based, distributed UAV movement schemes to optimize networking performance.

Paper accepted in Autonomous Robots

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Our paper entitled “Live multicast video streaming from drones: an experimental study” is accepted for publication in Autonomous Robots.

In this paper, we present and evaluate a multicast framework for point-to-multipoint and multipoint-to-point-to-multipoint video streaming. We evaluate the proposed application-layer rate-adaptive multicast video streaming over an aerial ad-hoc network that uses IEEE 802.11 in terms of goodput, delay, and packet loss.

Paper accepted in ITSC

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Our paper entitled “Guarded by Gamora: How Access Control Balances Out Waiting Times in Transport Systems” is accepted for publication in International Conference on Intelligent Transportation Systems (ITSC).

The paper considers a transport system with passengers traveling between stations in periodically arriving cabins. We propose and evaluate an access control algorithm that dynamically limits the number of passengers who are allowed to board the incoming cabin based on the passenger arrival and departure rates in subsequent stations.

Paper accepted in Elsevier Ad Hoc Networks Journal

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Our paper entitled “Drone Networks: Communications, Coordination, and Sensing” is accepted for publication in Ad Hoc Networks Journal.

In this paper, we describe a high-level architecture for the design of a collaborative aerial system consisting of drones with on-board sensors and embedded processing, sensing, coordination, and communication and networking capabilities. We implement a multi-drone system consisting of quadcopters and demonstrate its potential in disaster assistance and area monitoring scenarios. Furthermore, we illustrate design challenges and present potential solutions based on the lessons learned so far.

Survey accepted in IEEE Communications Surveys and Tutorials

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Our survey entitled “Survey on Unmanned Aerial Vehicle Networks for Civil Applications: A Communications Viewpoint” is accepted in IEEE Communications Surveys and Tutorials.

This comprehensive survey reports the characteristics and requirements of UAV networks for envisioned civil applications over the period 2000–2015 from a communications and networking viewpoint. We survey and quantify quality-of service requirements, network-relevant mission parameters, data requirements, and the minimum data to be transmitted over the network. Furthermore, we elaborate on general networking related requirements such as connectivity, adaptability, safety, privacy, security, and scalability. We also report experimental results from many projects and investigate the suitability of existing communication technologies for supporting reliable aerial networking.

 

Paper accepted in ACM MobiSys Workshop-DroNet 2015

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Our paper “An Autonomous Multi-UAV System for Search and Rescue,” is accepted in ACM MobiSys Workshop DroNet 2015 (Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use).

This paper proposes and evaluates the modular architecture of the autonomous unmanned aerial vehicle (UAV) system for search and rescue missions demonstrated here. The system is implemented in the Robot Operating System (ROS) and is capable of providing a real-time video stream from a UAV to one or more base stations using a wireless communications infrastructure. The system supports a heterogeneous set of UAVs and camera sensors.

Paper accepted in IEEE Transactions on Control of Network Systems

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Our paper “Information Exchange and Decision Making in Micro Aerial Vehicle Networks for Cooperative Search,” is accepted for publication in accepted in IEEE Transactions on Control of Network Systems.

The article considers a network of autonomous micro aerial vehicles (MAVs) cooperatively searching for multiple stationary targets, with the objective to minimize the search time while considering sensing and communication limitations. We explore and classify the design options in multi-MAV cooperative search in two dimensions: information merging and decision making where each dimension can be either centralized or distributed. Algorithms are then introduced to analyze the effects of centralized or distributed coordination for minimizing the search time. We show that depending on the availability of information and capability of making decisions, the MAVs can search an area more efficiently if both information merging and decision making are distributed.