Terrestrial robots, i.e., unmanned ground vehicles (UGVs), and aerial robots, i.e., unmanned aerial vehicles (UAVs), operate in separate spaces. To exploit their complementary features (e.g., fields of views, communication links, computing capabilities), a promising paradigm termed integrated robotics network therefore emerges, which provides communications for cooperative UAVs-UGVs applications. However, how to efficiently deploy UAVs and schedule the UAVs-UGVs connections according to different UGV tasks become challenging. In this paper, we consider the sum-rate maximization problem, where UGVs plan their trajectories autonomously and are dynamically associated with UAVs according to their planned trajectories. Although this problem is a NP-hard mixed integer program, a fast polynomial time algorithm using alternating gradient descent and penalty-based binary relaxation, is devised. Simulation results demonstrate the effectiveness of the proposed algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Integrated Robotics Networks with Co-optimization of Drone Placement and Air-Ground Communications


    Contributors:
    Hu, Menghao (author) / Zhang, Tong (author) / Wang, Shuai (author) / Li, Guoliang (author) / Chen, Yingyang (author) / Li, Qiang (author) / Chen, Gaojie (author)


    Publication date :

    2023-10-10


    Size :

    5143735 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    GROUND CONTROLLED DRONE SYSTEM

    AHN HYE RI | European Patent Office | 2023

    Free access

    DRONE GROUND CONTROL SYSTEM

    KIM YOUNG RYUN / LIM KYUNG BUM / CHOI HYO SEON | European Patent Office | 2019

    Free access

    DRONE FLIGHT OPTIMIZATION USING DRONE-TO-DRONE PERMISSIONING

    DELANEY MARK / WARD BRETT / RESTREPO CONDE MELISSA et al. | European Patent Office | 2020

    Free access

    Integrated Unmanned Air-Ground Robotics System, Volume 2

    R. A. Frederick / L. M. Filz / M. G. Janetka et al. | NTIS | 2001