See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/343496061

An Overview, Survey, and Challenges in UAVs Communication Network

Conference Paper · June 2020

DOI: 10.1109/ICIEM48762.2020.9160197

CITATIONS READS

14 216

2 authors:

Anshu Vashisth Ranbir Singh Batth

Lovely Professional University Lovely Professional University
19 PUBLICATIONS 186 CITATIONS 54 PUBLICATIONS 757 CITATIONS

SEE PROFILE SEE PROFILE

All content following this page was uploaded by Ranbir Singh Batth on 08 September 2020.

The user has requested enhancement of the downloaded file.

2020 International Conference on Intelligent Engineering and Management (ICIEM)

An Overview, Survey, and Challenges in UAVs

Communication Network
Anshu Vashisth Ranbir Singh Batth
Computer Science and Engineering, Computer Science and Engineering,
Lovely Professional university Lovely Professional university
Phagwara, India Phagwara, India
anshu.parents@gmail.com ranbir.21123@lpu.co.in

Abstract— This Path Planning is one of the major problems length and turning angle, the collision-free environment in
in UAV which is yet to be explored to get an optimal path among Adversarial environment. UAVs are a type of aircraft that can
two nodes (UAV). Though a huge amount of research proposals be controlled remotely to fly in space by using pre-planned
already endured related to path planning, still path planning routes or might be the dynamic route by avoiding collision and
problems persist keeping high mobility of UAVs. The usage and by selecting an optimal path. Moreover, Dynamic path
applications of UAV evolving rapidly in many areas. To solve planning is a key function of UAVs in the real world, which
the issues related to path planning, a certain optimal decision helps UAV to complete the task successfully with minimum
has to be taken for the various task done by UAV. All decision cost [1]. UAV network communication needs some general
for path planning requires Navigation info. The motive behind
requirement to made networks more strengthen in terms of
path planning is not just a selection of the optimal path but also
to get rid of collision during target operation. This is a very
Security, Safety, and Scalability. Figure-1 is showing the
critical task to select the shortest path keeping in view that it requirements of general networking which are also major
should be collision-free to reach its final destination. UAVs have requirements of UAVs network communication. UAVs are
been used in civil applications as well. The main use of UAVs in mainly used for analyzing the surroundings by avoiding
civil applications is to search and rescue, surveillance, obstacles and with no danger for human life. UAVs are
agriculture, monitoring, reconnaissance, etc. The path planning controlled from a remote location, hence there is no need for
techniques are broadly divided into three brackets. i.e. human intervention. So if it is attacked by enemies then there
Representative Techniques, Cooperative Techniques, and Non- will be no loss for humans. But somehow UAVs require
Cooperative Techniques. These techniques provide a platform admin intervention to operate and monitor the task allocated
to analyze coverage in terms of area covered by UAVs and to UAV using remote location. Now with human intervention,
connectivity with neighboring UAVs. Path planning is the UAVs are not able to perform the desire operation as it needs
preliminary requirement of UAV for its autonomous function. to perform. So UAVs itself can decide by the selection of the
In this article various challenges in path planning during target best optimal path and also a safe path in terms of collision
operation in an adversarial environment described in detailed avoidance. Now, to select optimal path UAVs must know path
manner. planning techniques. Path planning becomes a very difficult
task for UAVs when the environment is 3-D. When it comes
Keywords— Unmanned aerial vehicles (UAVs), Cost, Path
to a 3-D environment a lot of challenges and uncertainties
Planning, Security, Optimal path planning, Collision Avoidance.
comes in to picture. So to get the optimal solution for better
I. INTRODUCTION path planning we should consider various factors like path
length, optimality, and Integrity. By considering these
In the past few decades, we analyzed and observed how parameters not only UAVs select optimal path but also
the use and popularity of UAVs came into existence in various capable enough to avoid collision and save energy
applications. And at the same time, various technologies and consumption as well in context to battery usage. When the
communications standards evolve. According to all technical environment is dynamic, multiple obstacles exist during the
communications standards, if multiple inter-connected execution of multiple operations by UAVs. Existing
wireless devices like UAV are communicating, they need high approaches, Cloud Computing and Big Data are not able to
reliability and low latency and good battery life. Due to the provide the solution to the problem of selecting the best path
growing use of Drone in various operations like navigation, and even locating objects, the reason being UAVs are not able
surveillance, and reconnaissance, various challenges occur to find the problem of these problems [49].
e.g. path planning. UAVs are kind of aircraft which are being
controlled without human system intervention. UAVs use II. RELATED WORK
various types of cameras or sensors to gather information The literature review has been done on already existing
(audio, video images, etc.) [1]. UAVs play a vital role in path planning techniques based on numerous aspects of UAVs
military and civilian applications where UAVs or groups of network communication, to perform the comparative study.
UAVs used for climate monitoring, environmental research, This review work aims to summarize and to make aware of
weather forecasting, and rescue and search operations. UAVs
UAV's challenges with modern technologies. To ensure
have high mobility, portability, and flexibility which further
security and safety, UAVs have to detect the optimal path by
lead towards a lot of research gaps. And path planning is one
avoiding collision within a network of drones. The Unmanned
of them, to get better results in context to minimum path

342
978-1-7281-4097-1/20/$31.00 ©2020 IEEE

Authorized licensed use limited to: Carleton University. Downloaded on August 07,2020 at 07:05:11 UTC from IEEE Xplore. Restrictions apply.
2020 International Conference on Intelligent Engineering and Management (ICIEM)
aerial vehicle market is rapidly growing and dramatically techniques and mathematical model respect. Similarly, Table-
grows at a very high rate by 2020. As civilians, military and 3 is showing the comparison of existing techniques in context
even for commercial use, UAVs application areas are to coverage and multiobjective obstacles based on the same
continuously evolving. we have observed that based on certain parameters as discussed earlier in this paper.
parameters like path length, time efficiency, power usage, etc.
Table-1
different techniques are giving different results in distinct Survey Based on Various Parameters in UAV
scenarios. It is easy to construct an infrastructure to which all
Sampling-
the drones could be connected but these types of techniques Ref.
Path
Based
Coverage &
Security
Plan. Connectivity
would limit the capabilities of the UAV and hence there is a Technique

requirement of the ADHOC network which plays a crucial Aggarwal S et al. (2020) [1] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ط‬
role in the communication process. We have also got the Paredes J. A et al. (2018) [2] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬
answer to various questions like Why UAV got more Chen H. et al. (2009) [3] ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ط‬

attraction of researchers? Table-1 is depicting the survey of X. Cao et al. (2018) [4] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬
Motlagh H. et al. (2016)[5] ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬
various papers by different authors based on the mentioned
Li B et al. (2018) [6] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬
parameters in the given tables. Various authors have given the
Miller B. (2011) [7] ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬
different techniques in w.r.t to distinct parameters based on
cost, time and energy efficiency. In context to AI techniques, (‫ط‬: Observed, ‫ػ‬: Not Observed)
sampling-based techniques as well as a relative comparison of
mathematical models. Table-2 and Table-4 are showing a
comparative study of existing methods w.r.t. sampling-based
Table-2
Comparative study of Existing Sampling-based techniques.
Cost-
Ref. Time Efficiency Energy Efficiency Stability Collision Avoidance
efficiency
Jang D. et al. (2017) [8] ‫ط‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
N. Mansard et al. (2018) [9] ‫ط‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
J. Kuffner et al. (2000) [10] ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬
Zhang D et al. (2018) [11] ‫ط‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
Wen N. et al.(2015) [12] ‫ط‬ ‫ط‬ ‫ط‬ ‫ػ‬ ‫ػ‬
Shen Z et al. (2017) [13] ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬
Penin B et al. (2019) [14] ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬
Chen S. et al. (2017) [15] ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ط‬
(‫ط‬: Observed, ‫ػ‬: Not Observed)

III. OVERVIEW OF PATH PLANNING 1. Motion Planning: Motion planning broadly deals
with the flight path, turning crank or turning angle.
Path planning is a challenge for UAVs to set starting and Motion planning includes path optimization by
ending points of trajectory in the best possible way. The path minimizing the path length and rotating angle.
selected by UAVs must be free from all collisions and it
should have a proper system for energy conservation such as 2. Trajectory Planning: It deals with the time and
for electrical and kinetic energy [2]. Keeping mobility into velocity of UAVs during path planning.
consideration, UAV needs more battery power, because the
topology of UAVs is not fixed and change dynamically. 3. Navigation: It deals with collision avoidance and
Hence, path planning becomes an important task to save the localization of UAVs. It includes monitoring of the
energy of UAVs in context to optimality. Path planning has UAVs variation and topological changes from its
many key parameters that affect the efficiency of UAVs. The source to the intended destination.
design of UAV should be perfect so that the system sustains
in the adversarial environment.

Connectivity

Adaptability

Safety

Privacy

Security

Scalability

Fig 1. General Network Communication Pillars. Fig 2. Path Planning Taxonomy [1].

343

Authorized licensed use limited to: Carleton University. Downloaded on August 07,2020 at 07:05:11 UTC from IEEE Xplore. Restrictions apply.
2020 International Conference on Intelligent Engineering and Management (ICIEM)
IV. PATH PLANNING CHALLENGES
UAVs have many challenges when it comes to optimal
path planning in a real-time adversarial environment. The
few major challenges are:
• Path Length: It is the total distance that UAV has
traveled from its source to the destination point.
• Optimality: It deals with efficiency of the system in
terms of path cost and energy consumption. The
categorization of optimality is Optimal, Sub-optimal
and non-optimal.
• Integrity: It includes weather path exists or not. If a
path exists, then it provides a platform to give a
solution for the same.
• Cost-Efficiency: It includes total computation
including fuel cost, battery consumption, memory Fig 3. Functional Components of UAVs System [1].
space, etc.
• Time Efficiency: It includes minimum time
consumption by UAVs reaching from its starting
point to endpoint and this is possible if and only if
UAVs can select the best and optimal path to reach
its destination.
• Energy Efficiency: It includes minimum energy
consumed by UAVs in terms of battery usage and
fuel and this is possible if trajectory will be correct.
• Stability: It includes the ability of UAVs to handle
positional errors, rotational errors during path
planning.
• Collision Avoidance: It includes the ability of
UAVs to detect the collision so that there should not
be any physical damage to UAVs during operation
[1].
V. SYSTEM ARCHITECTURE
Fig 4. Components of UAVs [1].
UAVs have layered structure consist of various operations,
data collection, data processing, and data manipulation. The VI. CLASSIFICATION OF UAVS
data collection has hardware parts that include multiple types
of sensors to sense or capture like temperature detection, light
When it comes to UAV, there is no such standard. Depending
detection, pressure detection, etc. The data collection is done
upon its area of application its standard has been set. Civilians
by these hardware elements of UAVs and is again managed
have their classification, similarly, defense agencies have their
by a centralized administration that further helps UAVs for
standards [50]. In General, we classify UAV by size and its
mapping, localize and for decision-making tasks. UAV
range.
network is completely coming under the category of a
distributed system, due to which it has a property of
scalability. The High-level functionality and features give
good flexibility to UAV to process the data at target operation
during the adversarial environment. UAVs have specific
modules for computation in all real-time applications. In the
real world environment, the central control system is used to
actuate the data using UAVs. Fig.3 and Fig.4 showing high-
level functional components and areas covered by already
discussed hardware components. The different UAVs have
multiple specifications in context to UAVs rotating angle,
rotation angle, sensors, vision cameras, version and tolerance
ability [2]. When it comes to architecture the functional
components of devices have been introduced. These
functional components are being used for either data capturing
(Audio, Video etc.) or data processing. External component
can be sensors, battery and cameras. Before knowing the
challenges, we must know functional working of UAVs.
Fig 5. Classification of UAVs [51].

344

Authorized licensed use limited to: Carleton University. Downloaded on August 07,2020 at 07:05:11 UTC from IEEE Xplore. Restrictions apply.
2020 International Conference on Intelligent Engineering and Management (ICIEM)
As per the U.S. Defense Department (DoD), UAVs are mainly following types are there, Very Close range, Close range,
classified into five categories as shown in Table-5 [50]. Short-range, Mid-range, High-range.
Broadly, size and range are the main aspects of UAV. The
actual weight and its range define the use of UAVs. When we
classify UAV in terms of ranges (i.e. travel distance)
Table-3
Comparison Related to the Existing method in context to multiobjective obstacles and Coverage.
Energy Collision
Ref. Optimality Cost-Efficiency Time Efficiency Stability
Efficiency Avoidance
Yin C. et al. (2018) [36] ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬ ‫ػ‬ ‫ط‬
Ti N. T et al. (2018) [37] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬
Zeng Y. et al. (2018) [38] ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬ ‫ػ‬ ‫ط‬
Lee J. et al. (2017) [39] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬
Luo Z. et al. (2018) [40] ‫ط‬ ‫ط‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
Alam S. et al. (2006) [41] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
Batsoyol N. et al. (2018) [42] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬
Colonnese S. et al. (2018) [43] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬
Challita U. et al. (2018) [44] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ط‬ ‫ػ‬ ‫ػ‬
Cabreira T. M. et al. (2018) [45] ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬ ‫ػ‬ ‫ػ‬
(‫ط‬: Observed, ‫ػ‬: Not Observed)

Table-4
Comparison Related to Various Existing methods in context to mathematical models.
Cost- Time Energy Collision
Ref. Optimality Integrity Stability
Efficiency Efficiency Efficiency Avoidance
Miller B. et al. (2011) [16] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
Masehian E. at el. (2007) [17] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬
Chamseddine A. at el. (2012) [18] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ط‬ ‫ط‬ ‫ػ‬
Wu K. at el. (2017) [19] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬
Luo X. et al.(2017) [20] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ط‬ ‫ط‬ ‫ػ‬ ‫ػ‬
Darbari V. et al.(2017) [21] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬
Yu H. et al.(2015) [22] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
Schlotfeldt B. et al.(2018) [23] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ط‬
Yao P. et al.(2018) [24] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ط‬
Zhou H. et al. (2017) [25] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬
Koohifar F. et al.(2017) [26] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬
Yel E. et al. (2018) [27] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ط‬
Wallar A. et al. 2015 [28] ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬ ‫ط‬
Li J. et al. (2018) [29] ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬
Kyriakis P et al. (2019) [30] ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
Cabecinhas D. et al. (2015) [31] ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬
Li X. et al. (2017) [32] ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ط‬ ‫ػ‬ ‫ط‬ ‫ػ‬
Mostafa S.A et al. (2018) [33] ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
Ji X. et al. (2017) [34] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬
Yang S. et al. (2017) [35] ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ط‬ ‫ػ‬ ‫ػ‬ ‫ػ‬
(‫ط‬: Observed, ‫ػ‬: Not Observed)

Table-5
Classification of UAVs Given by U.S. DOD [50]
Maximum Takeoff Weight Normal Operating Altitude
Group No Size Airspeed
(lbs.) (ft.)
G-1 Small 0-20 <1200 AGL* <100
G-2 Medium 21-55 <3500 <250
G-3 Large <1320 <18000 MSL** <250
G-4 Larger >1320 <18000 MSL Any airspeed
G-5 Largest >1320 >18000 Any airspeed
(*AGL-Above Ground Level, **MSL- Mean Sea Level, DOD-Department of Defense)

345

Authorized licensed use limited to: Carleton University. Downloaded on August 07,2020 at 07:05:11 UTC from IEEE Xplore. Restrictions apply.
2020 International Conference on Intelligent Engineering and Management (ICIEM)
VII. CONCLUSION dynamic environments Security, Pattern Analysis, and Cybernetics
(SPAC), 2017 International Conference on, IEEE (2017), pp. 591-596
This survey paper explained various challenges and [16] Miller B., Stepanyan K., Miller A., Andreev M.3d path planning in a
comparison of path planning in various existing methods threat environment, Decision and Control and European Control
based on distinct technologies used in UAVs. UAVs are Conference (CDC-ECC), 2011 50th IEEE Conference on, IEEE
(2011), pp. 6864-6869
mostly used by military and civilian users. Hence, the shape
[17] Masehian E., Habibi G. Robot, path planning in 3d space using binary
and size of UAV play an important role to work in a real-time integer programming, Int. J. Mech. Syst. Sci. Eng., 23 (2007), pp. 26-
environment. As shown in Figure.1, mainly path planning in 31
UAVs has been categorized into three parts: representative [18] Chamseddine A., Zhang Y., Rabbath C.A., Join C., Theilliol D.
technique, coordinate techniques, non-coordinates Flatness-based trajectory planning/replanning for a quadrotor
unmanned aerial vehicle, IEEE Trans. Aerosp. Electron. Syst., 48 (4)
techniques. By using these techniques Efficiency, (2012), pp. 2832-2848
connectivity and coverage of all existing methods have been [19] Wu K., Xi T., Wang H. Real-time three-dimensional smooth path
discussed. Security mechanism has also been discussed. planning for unmanned aerial vehicles in completely unknown
Based on the criticality and category of system, a cooperative cluttered environments, Region 10 Conference, TENCON 2017-2017
study has been done based on different parameters like IEEE, IEEE (2017)
optimality, cost, time, Stability, etc. An overview has been [20] Luo X., Li X., Yang Q., Wu F., Zhang D., Yan W., Xi Z., Optimal path
planning for UAV based inspection system of large-scale photovoltaic
done with some major challenges in UAV path planning. farm Chinese Automation Congress (CAC), 2017, IEEE (2017), pp.
4495-4500
[21] Darbari V., Gupta S., Verma O.P. Dynamic motion planning for aerial
REFERENCES surveillance on a fixed-wing UAV, Unmanned Aircraft Systems
[1] Aggarwal, S., & Kumar, N. (2020). Path planning techniques for (ICUAS), 2017 International Conference on, IEEE (2017), pp. 488-497
unmanned aerial vehicles: A review, solutions, and challenges. [22] Yu H., Meier K., Argyle M., Beard R.W. Cooperative path planning
Computer Communications, 149(October 2019), 270–299. for target tracking in urban environments using unmanned air and
[2] Paredes, J. A., Álvarez, F. J., Aguilera, T., & Villadangos, J. M. (2018). ground vehicles, IEEE/ASME Trans. Mechatronics, 20 (2) (2015), pp.
3D indoor positioning of UAVs with spread spectrum ultrasound and 541-552
time-of-flight cameras. Sensors (Switzerland), 18(1), 1–15. [23] Schlotfeldt B., Thakur D., Atanasov N., Kumar V., Pappas G.J.
[3] Chen, H., Wang, X. M., & Li, Y. (2009). A survey of autonomous Anytime planning for decentralized multi-robot active information
control for UAV. 2009 International Conference on Artificial gathering IEEE Robot. Autom. Lett., 3 (2) (2018), pp. 1025-1032
Intelligence and Computational Intelligence, AICI 2009, 2, 267–271. [24] Yao P., Wang X., Yi, Optimal search for marine target using multiple
[4] Cao X., Yang P., Alzenad M., Xi X., Wu D., Yanikomeroglu H., unmanned aerial vehicles, 2018 37th Chinese Control Conference
Airborne communication networks: A survey, IEEE J. Sel. Areas (CCC), IEEE (2018), pp. 4552-4556
Commun., 36 (9) (2018), pp. 1907-1926. [25] Zhou H., Cai Z., Zhao J., Wang Y., Rho-based convex optimization
[5] Motlagh N.H., Taleb T., Arouk O. Low-altitude unmanned aerial method applied to cooperative trajectory planning for multiple UAVs,
vehicles-based internet of things services: Comprehensive survey and Control Conference (ASCC), 2017 11th Asian, IEEE (2017), pp. 1572-
future perspectives, IEEE Internet Things J., 3 (6) (2016), pp. 899-922 1577
[6] Li B., Fei Z., Zhang Y., UAV communications for 5g and beyond: [26] Koohifar F., Kumbhar A., Guvenc I. Receding horizon multi-UAV
Recent advances and future trends, IEEE Internet Things J., 6 (2) cooperative tracking of moving rf source, IEEE Commun. Lett., 21 (6)
(2018), pp. 2241-2263 (2017), pp. 1433-1436
[7] Miller B., Stepanyan K., Miller A., Andreev M.3d path planning in a [27] Yel E., Lin T.X., Bezzo N. Self-triggered adaptive planning and
threat environment, Decision and Control and European Control scheduling of UAV operations, 2018 IEEE International Conference
Conference (CDC-ECC), 2011 50th IEEE Conference on, IEEE on Robotics and Automation (ICRA), IEEE (2018), pp. 7518-7524
(2011), pp. 6864-6869 [28] Wallar A., Plaku E., Sofge D.A. Reactive motion planning for
[8] Jang D.-S., Chae H.-J., Choi H.-Optimal control-based UAV path unmanned aerial surveillance of risk-sensitive areas, IEEE Trans.
planning with dynamically-constrained tsp with neighborhoods Autom. Sci. Eng., 12 (3) (2015), pp. 969-980
Control, Automation and Systems (ICCAS), 2017 17th International [29] Li J., Li X., Yu L. Multi-UAV cooperative coverage path planning in
Conference on, IEEE (2017), pp. 373-378 plateau and mountain environment, 2018 33rd Youth Academic
[9] Mansard N., DelPrete A., Geisert M., Tonneau S., Stasse O. Using a Annual Conference of Chinese Association of Automation (YAC),
memory of motion to efficiently warm-start a nonlinear predictive IEEE (2018), pp. 820-824
controller, 2018 IEEE International Conference on Robotics and [30] Kyriakis P., Moustris G. Terrain following for fixed-wing unmanned
Automation (ICRA), IEEE (2018), pp. 2986-2993 aerial vehicles using feedback equivalence, IEEE Control Syst. Lett., 3
[10] Kuffner J.J., LaValle S.M. Rrt-connect: An efficient approach to (1) (2019), pp. 150-155
single-query path planning, Robotics, and Automation, 2000. [31] Cabecinhas D., Cunha R., Silvestre C.A globally stabilizing path
Proceedings. ICRA'00. IEEE International Conference on, Vol. 2, following controller for rotorcraft with wind disturbance rejection,
IEEE (2000), pp. 995-1001 IEEE Trans. Control Syst. Technol., 23 (2) (2015), pp. 708-714
[11] Zhang D., Xu Y., Yao X. An improved path planning algorithm for an [32] Li X., Chen J, an efficient framework for target search with cooperative
unmanned aerial vehicle based on rrt-connect,2018 37th Chinese UAVs in a fanet, Ubiquitous Computing and Communications
Control Conference (CCC), IEEE (2018), pp. 4854-4858 (ISPA/IUCC), 2017 IEEE International Symposium on Parallel and
[12] Wen N., Zhao L., Su X., Ma P.UAV online path planning algorithm in Distributed Processing with Applications and 2017 IEEE International
a low altitude dangerous environment, IEEE/CAA J. Autom. Sin., 2 (2) Conference on, IEEE (2017), pp. 306-313
(2015), pp. 173-185 [33] Mostafa S.A., Mustapha A., Shamsudin A.U., Ahmad A., Ahmad M.S.,
[13] Shen Z., Cheng X., Zhou S., Tang X.-M., Wang H.A dynamic airspace Gunasekaran S.S.A real-time autonomous flight navigation trajectory
planning framework with ads-b tracks for manned and unmanned assessment for unmanned aerial vehicles, 2018 International
aircraft at low-altitude sharing airspace, Digital Avionics Systems Symposium on Agent, Multi-Agent Systems and Robotics (ISAMSR),
Conference (DASC), 2017 IEEE/AIAA 36th, IEEE (2017), pp. 1-7 IEEE (2018), pp. 1-6
[14] Penin B., Giordano P.R., Chaumette F. Minimum-time trajectory [34] Ji X., Hua Q., Li C., Tang J., Wang A., Chen X., Fang D.A real-time
planning under intermittent measurements, IEEE Robot. Autom. Lett., autonomous flight navigation trajectory assessment for unmanned
4 (1) (2019), pp. 153-160 aerial vehicles, 2018 International Symposium on Agent, Multi-Agent
Systems and Robotics (ISAMSR), IEEE (2017), pp. 225-231
[15] Chen S., Yang Z., Liu Z., Jin H., An improved artificial potential field
based path planning algorithm for an unmanned aerial vehicle in [35] Yang S., Wei N., Jeon S., Bencatel R., Girard A. Real-time optimal
path planning and wind estimation using gaussian process regression

346

Authorized licensed use limited to: Carleton University. Downloaded on August 07,2020 at 07:05:11 UTC from IEEE Xplore. Restrictions apply.
2020 International Conference on Intelligent Engineering and Management (ICIEM)
for precision airdrop, American Control Conference (ACC), 2017, [44] Challita U., Saad W., Bettstetter C., Deep reinforcement learning for
IEEE (2017), pp. 2582-2587 interference-aware path planning of cellular-connected UAVs, Proc. of
[36] Yin C., Xiao Z., Cao X., Xi X., Yang P., Wu D. Offline and online International Conference on Communications (ICC) (2018)
search: UAV multiobjective path planning under dynamic urban [45] Cabreira T.M., Di Franco C., Ferreira P.R., Buttazzo G.C. Energy-
environment, IEEE Internet Things J., 5 (2) (2018), pp. 546-558 aware spiral coverage path planning for UAV photogrammetric
[37] Ti N.T., Le L.B. Joint resource allocation, computation offloading, and applications, IEEE Robot. Autom. Lett., 3 (4) (2018), pp. 3662-3668
path planning for UAV based hierarchical fog-cloud mobile systems, [46] Hayat S., Yanmaz E., Muzaffar R., Survey on unmanned aerial vehicle
2018 IEEE Seventh International Conference on Communications and networks for civil applications: A communications viewpoint, IEEE
Electronics (ICCE), IEEE (2018), pp. 373-378 Commun. Surv. Tutor., 18 (4) (2016), pp. 2624-2661.
[38] Zeng Y., Xu X., Zhang R., Trajectory design for completion time [47] Hasircioglu, I., Topcuoglu, H. R., & Ermis, M. (2008). 3-D path
minimization in UAV-enabled multicasting, IEEE Trans. Wirel. planning for the navigation of unmanned aerial vehicles by using
Commun., 17 (4) (2018), pp. 2233-2246 evolutionary algorithms. GECCO’08: Proceedings of the 10th Annual
[39] Lee J.-S., Yu K.-H, Optimal path planning of solar-powered UAV Conference on Genetic and Evolutionary Computation 2008, 1499–
using gravitational potential energy, IEEE Trans. Aerosp. Electron. 1506.
Syst., 53 (3) (2017), pp. 1442-1451 [48] M. Mozaffari, W. Saad, M. Bennis, Y.-H. Nam, M. Debbah, A tutorial
[40] Luo Z., Liu Z., Shi J., Wang Q., Zhou T., Liu Y. The mathematical on UAVs for wireless networks: Applications, challenges, and open
modeling of the two-echelon ground vehicle and its mounted problems (2018).
unmanned aerial vehicle cooperated routing problem, 2018 IEEE [49] Gupta L., Jain R., Vaszkun G. Survey of important issues in UAV
Intelligent Vehicles Symposium (IV), IEEE (2018), pp. 1163-1170 communication networks, IEEE Commun. Surv. Tutor., 18 (2) (2016),
[41] Alam S., Haas Z.J. Coverage and connectivity in three-dimensional pp. 1123-1152.
networks, Proceedings of the 12th Annual International Conference on [50] Published on GEOG 892: Unmanned Aerial Systems: Introduction to
Mobile Computing and Networking, ACM (2006), pp. 346-357 the Unmanned Aerial System, https://www.e-
[42] Batsoyol N., Jin Y., Lee H. Constructing full-coverage 3d UAV ad-hoc education.psu.edu/geog892/node/5
networks through collaborative exploration in unknown urban [51] A Seminar II On “A Review of Flight Dynamics and Numerical
environments, 2018 IEEE International Conference on Analysis of an Unmanned Aerial Vehicle (UAV)” By Ms. Harshada A
Communications (ICC), IEEE (2018), pp. 1-7 Gurav Guide Dr. C. R. Sonawane. Department of Mechanical
[43] Colonnese S., Carlesimo A., Brigato L., Cuomo F. Qoe-aware UAV Engineering Zeal Education Society’s Zeal College of Engineering and
flight path design for mobile video streaming in hetnet, 2018 IEEE 10th Research, Pune. Savitribai Phule, Pune University (2015-16).
Sensor Array and Multichannel Signal Processing Workshop (SAM),
IEEE (2018), pp. 301-305

347

Authorized licensed use limited to: Carleton University. Downloaded on August 07,2020 at 07:05:11 UTC from IEEE Xplore. Restrictions apply.
View publication stats