Civil Unmanned Aerial Vehicles (UAVs) enable a manifold of exciting new services. UAVs are about to be part of our everyday lives. The range of applications is very broad, ranging from swarms of UAVs that can be used for 3D modeling and surveillance of large areas, to search and rescues and fire fighter missions. An important cornerstone for the development of civil UAVs is communication technology. To ensure lightweight and cheap UAV technology, it is necessary to use existing commodity communication technology and chip-sets for UAV communications. Yet, the impact of the novel aerial and high altitude propagation context on those technologies needs to be understood. In this paper, we analyze the performance of IEEE 802.11 communication, both experimentally and by means of simulation. It is shown that the aerial context results in very different communication performance for an 802.11 network compared to the typical terrestrial context. Decreased shadowing gives a larger number of networks that can be seen, resulting in higher interference and packet loss due to collisions.
{"title":"Analysis of Harmful Interference to and from Aerial IEEE 802.11 Systems.","authors":"Bertold Van den Bergh, T. Vermeulen, S. Pollin","doi":"10.1145/2750675.2750685","DOIUrl":"https://doi.org/10.1145/2750675.2750685","url":null,"abstract":"Civil Unmanned Aerial Vehicles (UAVs) enable a manifold of exciting new services. UAVs are about to be part of our everyday lives. The range of applications is very broad, ranging from swarms of UAVs that can be used for 3D modeling and surveillance of large areas, to search and rescues and fire fighter missions. An important cornerstone for the development of civil UAVs is communication technology. To ensure lightweight and cheap UAV technology, it is necessary to use existing commodity communication technology and chip-sets for UAV communications. Yet, the impact of the novel aerial and high altitude propagation context on those technologies needs to be understood. In this paper, we analyze the performance of IEEE 802.11 communication, both experimentally and by means of simulation. It is shown that the aerial context results in very different communication performance for an 802.11 network compared to the typical terrestrial context. Decreased shadowing gives a larger number of networks that can be seen, resulting in higher interference and packet loss due to collisions.","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126505735","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}
P. Manzoni, C. Calafate, Juan-Carlos Cano, Edjair Mota
In certain geographical areas such as the rural areas or the developing regions, the lack of infrastructure, the temporary nature of the connections and the limited access to fixed public networks does not allow the use of all the advantages offered by the Internet. In this paper we present our project that aims to test a new communication system based on the combination of the use of unmanned aerial vehicles (called ePidgeons) and wireless networking technologies for Disruption Tolerant Networks (DTN). As a study case we will use the riparian communities along the rivers in the Amazon region.
{"title":"Epidgeons: Combining Drones and DTNs Technologies to Provide Connectivity in Remote Areas","authors":"P. Manzoni, C. Calafate, Juan-Carlos Cano, Edjair Mota","doi":"10.1145/2750675.2750688","DOIUrl":"https://doi.org/10.1145/2750675.2750688","url":null,"abstract":"In certain geographical areas such as the rural areas or the developing regions, the lack of infrastructure, the temporary nature of the connections and the limited access to fixed public networks does not allow the use of all the advantages offered by the Internet. In this paper we present our project that aims to test a new communication system based on the combination of the use of unmanned aerial vehicles (called ePidgeons) and wireless networking technologies for Disruption Tolerant Networks (DTN). As a study case we will use the riparian communities along the rivers in the Amazon region.","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122770097","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}
Natural disasters affect thousands of people every year. In a large disaster area, search and rescue operations can face great difficulties to locate victims. In this paper, we propose a system, called Krypto, with UAV to assist search and recue operations. By flying over disaster area and detecting wireless signals from any cellular phones, Krypto is able to locate possible victims. In addition, this work addresses the challenges of maximizing the searching area and minimizing the location errors with different searching paths. We have analyzed different searching paths in terms of coverage, location errors, average speed, average searching time, and power consumption. Our experiments presented the design considerations and the performance comparisons of different searching paths for finding victim in a large disaster area.
{"title":"Krypto: Assisting Search and Rescue Operations using Wi-Fi Signal with UAV","authors":"Yao-Hua Ho, Yu-Ren Chen, Ling-Jyh Chen","doi":"10.1145/2750675.2750684","DOIUrl":"https://doi.org/10.1145/2750675.2750684","url":null,"abstract":"Natural disasters affect thousands of people every year. In a large disaster area, search and rescue operations can face great difficulties to locate victims. In this paper, we propose a system, called Krypto, with UAV to assist search and recue operations. By flying over disaster area and detecting wireless signals from any cellular phones, Krypto is able to locate possible victims. In addition, this work addresses the challenges of maximizing the searching area and minimizing the location errors with different searching paths. We have analyzed different searching paths in terms of coverage, location errors, average speed, average searching time, and power consumption. Our experiments presented the design considerations and the performance comparisons of different searching paths for finding victim in a large disaster area.","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126291496","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":"Session details: Communication Paper Session","authors":"K. Hummel","doi":"10.1145/3253892","DOIUrl":"https://doi.org/10.1145/3253892","url":null,"abstract":"","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"66-67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130872561","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}
Unmanned Aerial Vehicles (UAVs or drones, for short) are receiving increasing attention recently, due to the many applications they might be used for, ranging from territory surveillance to delivery of goods. The case of drones autonomously flying according to a pre-defined route is clearly the most interesting one for the deployment of such applications. Yet, autonomic flight requires that a drone is able to maintain stability – in terms of a target attitude – in spite of external disturbances (e.g. gusts of wind), with no human intervention. This is traditionally done with a PID (proportional integral derivative) controller, which takes as input the deviations from the target, and supplies in output the indication of how to act on the drone engines so as to restore the proper attitude. Two orders of problems must be dealt with when deploying a PID controller. First, the parameters weighing the input components must be properly tuned in order to guarantee attitude restoring, and to avoid oscillations of the system. Second, the PID output must be translated into commands to the drone engines so as to achieve the desired behavior. The former aspect can be solved either by hand, or with a number of automatic methods proposed in the literature (e.g. [1, 2]). Those methods involve complex mathematical models and are considerably time-consuming. As far as the latter aspect is concerned, there are hardware constraints that impede to abruptly change speed or spin of rotors and propellers, which otherwise may be damaged. In this paper, we introduce a mathematical model simplified yet effective in yielding appropriate parameters to implement an accurate controller, without the need of a complex preliminary calibration of the mechanical system. We describe our policies to apply controller indications to the drone hardware. We validate both model and policies through experiments.
{"title":"Study and Experimentation of Control Policies to Dynamically Maintain Micro-UAV Flight Stability","authors":"F. Pedersini, Andrea Toscano, E. Pagani","doi":"10.1145/2750675.2750676","DOIUrl":"https://doi.org/10.1145/2750675.2750676","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs or drones, for short) are receiving increasing attention recently, due to the many applications they might be used for, ranging from territory surveillance to delivery of goods. The case of drones autonomously flying according to a pre-defined route is clearly the most interesting one for the deployment of such applications. Yet, autonomic flight requires that a drone is able to maintain stability – in terms of a target attitude – in spite of external disturbances (e.g. gusts of wind), with no human intervention. This is traditionally done with a PID (proportional integral derivative) controller, which takes as input the deviations from the target, and supplies in output the indication of how to act on the drone engines so as to restore the proper attitude. Two orders of problems must be dealt with when deploying a PID controller. First, the parameters weighing the input components must be properly tuned in order to guarantee attitude restoring, and to avoid oscillations of the system. Second, the PID output must be translated into commands to the drone engines so as to achieve the desired behavior. The former aspect can be solved either by hand, or with a number of automatic methods proposed in the literature (e.g. [1, 2]). Those methods involve complex mathematical models and are considerably time-consuming. As far as the latter aspect is concerned, there are hardware constraints that impede to abruptly change speed or spin of rotors and propellers, which otherwise may be damaged. In this paper, we introduce a mathematical model simplified yet effective in yielding appropriate parameters to implement an accurate controller, without the need of a complex preliminary calibration of the mechanical system. We describe our policies to apply controller indications to the drone hardware. We validate both model and policies through experiments.","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130566450","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}
O. Artemenko, Alina Rubina, T. Simon, A. Mitschele-Thiel
This paper concentrates on the adaptation of several state-of-the-art static trajectories. The so called Triangle and Circle trajectories are investigated in real-world experiments using a single unmanned aerial vehicle serving as a mobile anchor. Experimental results show that Triangle is better suited for our unique indoor-outdoor scenario.
{"title":"Experimental Validation of Efficient Static Trajectories for the Localization of Wireless Nodes in a Mixed Indoor-Outdoor Scenario Using an Unmanned Aerial Vehicle","authors":"O. Artemenko, Alina Rubina, T. Simon, A. Mitschele-Thiel","doi":"10.1145/2750675.2750687","DOIUrl":"https://doi.org/10.1145/2750675.2750687","url":null,"abstract":"This paper concentrates on the adaptation of several state-of-the-art static trajectories. The so called Triangle and Circle trajectories are investigated in real-world experiments using a single unmanned aerial vehicle serving as a mobile anchor. Experimental results show that Triangle is better suited for our unique indoor-outdoor scenario.","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124111167","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}
Jurgen Scherer, S. Yahyanejad, Samira Hayat, E. Yanmaz, Torsten Andre, Asif Khan, V. Vukadinovic, C. Bettstetter, H. Hellwagner, B. Rinner
This paper proposes and evaluates a modular architecture of an autonomous unmanned aerial vehicle (UAV) system for search and rescue missions. Multiple multicopters are coordinated using a distributed control system. 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. If necessary, an operator can interfere and reduce the autonomy. The system has been tested in an outdoor mission serving as a proof of concept. Some insights from these tests are described in the paper.
{"title":"An Autonomous Multi-UAV System for Search and Rescue","authors":"Jurgen Scherer, S. Yahyanejad, Samira Hayat, E. Yanmaz, Torsten Andre, Asif Khan, V. Vukadinovic, C. Bettstetter, H. Hellwagner, B. Rinner","doi":"10.1145/2750675.2750683","DOIUrl":"https://doi.org/10.1145/2750675.2750683","url":null,"abstract":"This paper proposes and evaluates a modular architecture of an autonomous unmanned aerial vehicle (UAV) system for search and rescue missions. Multiple multicopters are coordinated using a distributed control system. 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. If necessary, an operator can interfere and reduce the autonomy. The system has been tested in an outdoor mission serving as a proof of concept. Some insights from these tests are described in the paper.","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117039890","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}
Tourism always involves physical movement between places, an activity that may be cumbersome, expensive, or even dangerous. Virtual tourism aims at reducing limitations by recreating real touristic venues in computers as 3D models. However, virtual tourism is always premade or prerecorded. In our virtual tourism approach we use UAVs to fly around at the target venues, and send a video they record live to a tourist sitting at home, or walking in a treadmill. The video is presented in a VR visor, and head movements steer the orientation of the drone. This way tourists have the impression to really visit a remote site live, without any limitations. We present experimental results and analyze the overhead of compensating Internet network delay.
{"title":"Virtual Tourism with Drones: Experiments and Lag Compensation","authors":"David Mirk, H. Hlavacs","doi":"10.1145/2750675.2750681","DOIUrl":"https://doi.org/10.1145/2750675.2750681","url":null,"abstract":"Tourism always involves physical movement between places, an activity that may be cumbersome, expensive, or even dangerous. Virtual tourism aims at reducing limitations by recreating real touristic venues in computers as 3D models. However, virtual tourism is always premade or prerecorded. In our virtual tourism approach we use UAVs to fly around at the target venues, and send a video they record live to a tourist sitting at home, or walking in a treadmill. The video is presented in a VR visor, and head movements steer the orientation of the drone. This way tourists have the impression to really visit a remote site live, without any limitations. We present experimental results and analyze the overhead of compensating Internet network delay.","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124939439","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}
Aerial platforms have for many years promised to revolutionise the way wireless communications is delivered, but as yet little technology is available. However, recent advances, especially in the aeronautical technology, means that this promising means of delivery can now be realized, using a variety of different types of aerial platform. This talk will discuss the main factors influencing progress, including the aeronautical constraints, the state of the art, the regulatory environment, as well wireless communication system design. These will be placed in the context of the FP7 ABSOLUTE project, and other previous activities. Finally, the talk will explore some future examples of how such technologies can be used, such as to provide 5G wireless communications, along with discussing new projects in the area.
{"title":"Aerial Platform based Wireless Communications: Will the Myth now become Reality?","authors":"D. Grace","doi":"10.1145/2750675.2750691","DOIUrl":"https://doi.org/10.1145/2750675.2750691","url":null,"abstract":"Aerial platforms have for many years promised to revolutionise the way wireless communications is delivered, but as yet little technology is available. However, recent advances, especially in the aeronautical technology, means that this promising means of delivery can now be realized, using a variety of different types of aerial platform. This talk will discuss the main factors influencing progress, including the aeronautical constraints, the state of the art, the regulatory environment, as well wireless communication system design. These will be placed in the context of the FP7 ABSOLUTE project, and other previous activities. Finally, the talk will explore some future examples of how such technologies can be used, such as to provide 5G wireless communications, along with discussing new projects in the area.","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129447414","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}
Message ferries support delay-tolerant networking in scenarios where nodes are too far from each other to communicate directly. We study scenarios where a data ferry moves between a fixed set of stationary nodes not connected otherwise. Thus, ferrying is assumed to be the only means of communication in the network. In order to minimize the average message delivery time, the ferry dynamically decides on the next node to visit. For this, we assume local knowledge only, i.e. the decision made by the ferry is solely based on locally derived information. Our studies are based on an abstract state transition model for the system. Based on this model we analyze the performance of different algorithms. This includes a static planning algorithm selecting the shortest Euler tour (TSP) and our dynamic decision algorithm (SOFCOM) based on local knowledge. In order to study the performance of both algorithms, we compare these with results derived by an idealized nondeterministic algorithm (oracle) assuming global as well as future knowledge on the generated messages. Our studies are based on symmetric as well as asymmetric traffic with exponential message arrivals. We show that our SOFCOM algorithm typically outperforms the TSP algorithm and that it achieves results close to the oracle solution. Especially important, our studies show that the benefits of global knowledge of the system state are rather small, and that local knowledge is sufficient to achieve very good results.
{"title":"Next-Hop Decision-Making in Mobility-Controlled Message Ferrying Networks","authors":"T. Simon, A. Mitschele-Thiel","doi":"10.1145/2750675.2750680","DOIUrl":"https://doi.org/10.1145/2750675.2750680","url":null,"abstract":"Message ferries support delay-tolerant networking in scenarios where nodes are too far from each other to communicate directly. We study scenarios where a data ferry moves between a fixed set of stationary nodes not connected otherwise. Thus, ferrying is assumed to be the only means of communication in the network. In order to minimize the average message delivery time, the ferry dynamically decides on the next node to visit. For this, we assume local knowledge only, i.e. the decision made by the ferry is solely based on locally derived information. Our studies are based on an abstract state transition model for the system. Based on this model we analyze the performance of different algorithms. This includes a static planning algorithm selecting the shortest Euler tour (TSP) and our dynamic decision algorithm (SOFCOM) based on local knowledge. In order to study the performance of both algorithms, we compare these with results derived by an idealized nondeterministic algorithm (oracle) assuming global as well as future knowledge on the generated messages. Our studies are based on symmetric as well as asymmetric traffic with exponential message arrivals. We show that our SOFCOM algorithm typically outperforms the TSP algorithm and that it achieves results close to the oracle solution. Especially important, our studies show that the benefits of global knowledge of the system state are rather small, and that local knowledge is sufficient to achieve very good results.","PeriodicalId":233042,"journal":{"name":"Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116468272","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}
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