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  • Open Access

    ARTICLE

    Intelligent PID Control Method for Quadrotor UAV with Serial Humanoid Intelligence

    Linlin Zhang, Lvzhao Bai, Jianshu Liang, Zhiying Qin*, Yuejing Zhao

    Computer Systems Science and Engineering, Vol.48, No.6, pp. 1557-1579, 2024, DOI:10.32604/csse.2024.054237 - 22 November 2024

    Abstract Quadrotor unmanned aerial vehicles (UAVs) are widely used in inspection, agriculture, express delivery, and other fields owing to their low cost and high flexibility. However, the current UAV control system has shortcomings such as poor control accuracy and weak anti-interference ability to a certain extent. To address the control problem of a four-rotor UAV, we propose a method to enhance the controller’s accuracy by considering underactuated dynamics, nonlinearities, and external disturbances. A mathematical model is constructed based on the flight principles of the quadrotor UAV. We develop a control algorithm that combines humanoid intelligence with… More >

  • Open Access

    ARTICLE

    Integrated Energy-Efficient Distributed Link Stability Algorithm for UAV Networks

    Altaf Hussain1, Shuaiyong Li2, Tariq Hussain3, Razaz Waheeb Attar4, Farman Ali5,*, Ahmed Alhomoud6, Babar Shah7

    CMC-Computers, Materials & Continua, Vol.81, No.2, pp. 2357-2394, 2024, DOI:10.32604/cmc.2024.056694 - 18 November 2024

    Abstract Ad hoc networks offer promising applications due to their ease of use, installation, and deployment, as they do not require a centralized control entity. In these networks, nodes function as senders, receivers, and routers. One such network is the Flying Ad hoc Network (FANET), where nodes operate in three dimensions (3D) using Unmanned Aerial Vehicles (UAVs) that are remotely controlled. With the integration of the Internet of Things (IoT), these nodes form an IoT-enabled network called the Internet of UAVs (IoU). However, the airborne nodes in FANET consume high energy due to their payloads and… More >

  • Open Access

    ARTICLE

    A Lightweight UAV Visual Obstacle Avoidance Algorithm Based on Improved YOLOv8

    Zongdong Du1,2, Xuefeng Feng3, Feng Li3, Qinglong Xian3, Zhenhong Jia1,2,*

    CMC-Computers, Materials & Continua, Vol.81, No.2, pp. 2607-2627, 2024, DOI:10.32604/cmc.2024.056616 - 18 November 2024

    Abstract The importance of unmanned aerial vehicle (UAV) obstacle avoidance algorithms lies in their ability to ensure flight safety and collision avoidance, thereby protecting people and property. We propose UAD-YOLOv8, a lightweight YOLOv8-based obstacle detection algorithm optimized for UAV obstacle avoidance. The algorithm enhances the detection capability for small and irregular obstacles by removing the P5 feature layer and introducing deformable convolution v2 (DCNv2) to optimize the cross stage partial bottleneck with 2 convolutions and fusion (C2f) module. Additionally, it reduces the model’s parameter count and computational load by constructing the unite ghost and depth-wise separable… More >

  • Open Access

    REVIEW

    Computing Challenges of UAV Networks: A Comprehensive Survey

    Altaf Hussain1, Shuaiyong Li2, Tariq Hussain3, Xianxuan Lin4,*, Farman Ali5,*, Ahmad Ali AlZubi6

    CMC-Computers, Materials & Continua, Vol.81, No.2, pp. 1999-2051, 2024, DOI:10.32604/cmc.2024.056183 - 18 November 2024

    Abstract Devices and networks constantly upgrade, leading to rapid technological evolution. Three-dimensional (3D) point cloud transmission plays a crucial role in aerial computing terminology, facilitating information exchange. Various network types, including sensor networks and 5G mobile networks, support this transmission. Notably, Flying Ad hoc Networks (FANETs) utilize Unmanned Aerial Vehicles (UAVs) as nodes, operating in a 3D environment with Six Degrees of Freedom (6DoF). This study comprehensively surveys UAV networks, focusing on models for Light Detection and Ranging (LiDAR) 3D point cloud compression/transmission. Key topics covered include autonomous navigation, challenges in video streaming infrastructure, motivations for More >

  • Open Access

    ARTICLE

    Multi-UAV Collaborative Mission Planning Method for Self-Organized Sensor Data Acquisition

    Shijie Yang1, Jiateng Yuan1, Zhipeng Zhang1, Zhibo Chen1,2, Hanchao Zhang4, Xiaohui Cui1,2,3,*

    CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 1529-1563, 2024, DOI:10.32604/cmc.2024.055402 - 15 October 2024

    Abstract In recent years, sensor technology has been widely used in the defense and control of sensitive areas in cities, or in various scenarios such as early warning of forest fires, monitoring of forest pests and diseases, and protection of endangered animals. Deploying sensors to collect data and then utilizing unmanned aerial vehicle (UAV) to collect the data stored in the sensors has replaced traditional manual data collection as the dominant method. The current strategies for efficient data collection in above scenarios are still imperfect, and the low quality of the collected data and the excessive… More >

  • Open Access

    ARTICLE

    Border Sensitive Knowledge Distillation for Rice Panicle Detection in UAV Images

    Anitha Ramachandran, Sendhil Kumar K.S.*

    CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 827-842, 2024, DOI:10.32604/cmc.2024.054768 - 15 October 2024

    Abstract Research on panicle detection is one of the most important aspects of paddy phenotypic analysis. A phenotyping method that uses unmanned aerial vehicles can be an excellent alternative to field-based methods. Nevertheless, it entails many other challenges, including different illuminations, panicle sizes, shape distortions, partial occlusions, and complex backgrounds. Object detection algorithms are directly affected by these factors. This work proposes a model for detecting panicles called Border Sensitive Knowledge Distillation (BSKD). It is designed to prioritize the preservation of knowledge in border areas through the use of feature distillation. Our feature-based knowledge distillation method More >

  • Open Access

    ARTICLE

    Task Offloading and Trajectory Optimization in UAV Networks: A Deep Reinforcement Learning Method Based on SAC and A-Star

    Jianhua Liu*, Peng Xie, Jiajia Liu, Xiaoguang Tu

    CMES-Computer Modeling in Engineering & Sciences, Vol.141, No.2, pp. 1243-1273, 2024, DOI:10.32604/cmes.2024.054002 - 27 September 2024

    Abstract In mobile edge computing, unmanned aerial vehicles (UAVs) equipped with computing servers have emerged as a promising solution due to their exceptional attributes of high mobility, flexibility, rapid deployment, and terrain agnosticism. These attributes enable UAVs to reach designated areas, thereby addressing temporary computing swiftly in scenarios where ground-based servers are overloaded or unavailable. However, the inherent broadcast nature of line-of-sight transmission methods employed by UAVs renders them vulnerable to eavesdropping attacks. Meanwhile, there are often obstacles that affect flight safety in real UAV operation areas, and collisions between UAVs may also occur. To solve… More >

  • Open Access

    ARTICLE

    Unknown Environment Measurement Mapping by Unmanned Aerial Vehicle Using Kalman Filter-Based Low-Cost Estimated Parallel 8-Beam LIDAR

    Mohamed Rabik Mohamed Ismail1, Muthuramalingam Thangaraj1,*, Khaja Moiduddin2,*, Zeyad Almutairi2,3, Mustufa Haider Abidi2

    CMC-Computers, Materials & Continua, Vol.80, No.3, pp. 4263-4279, 2024, DOI:10.32604/cmc.2024.055271 - 12 September 2024

    Abstract The measurement and mapping of objects in the outer environment have traditionally been conducted using ground-based monitoring systems, as well as satellites. More recently, unmanned aerial vehicles have also been employed for this purpose. The accurate detection and mapping of a target such as buildings, trees, and terrains are of utmost importance in various applications of unmanned aerial vehicles (UAVs), including search and rescue operations, object transportation, object detection, inspection tasks, and mapping activities. However, the rapid measurement and mapping of the object are not currently achievable due to factors such as the object’s size,… More >

  • Open Access

    ARTICLE

    Enhanced UAV Pursuit-Evasion Using Boids Modelling: A Synergistic Integration of Bird Swarm Intelligence and DRL

    Weiqiang Jin1,#, Xingwu Tian1,#, Bohang Shi1, Biao Zhao1,*, Haibin Duan2, Hao Wu3

    CMC-Computers, Materials & Continua, Vol.80, No.3, pp. 3523-3553, 2024, DOI:10.32604/cmc.2024.055125 - 12 September 2024

    Abstract The UAV pursuit-evasion problem focuses on the efficient tracking and capture of evading targets using unmanned aerial vehicles (UAVs), which is pivotal in public safety applications, particularly in scenarios involving intrusion monitoring and interception. To address the challenges of data acquisition, real-world deployment, and the limited intelligence of existing algorithms in UAV pursuit-evasion tasks, we propose an innovative swarm intelligence-based UAV pursuit-evasion control framework, namely “Boids Model-based DRL Approach for Pursuit and Escape” (Boids-PE), which synergizes the strengths of swarm intelligence from bio-inspired algorithms and deep reinforcement learning (DRL). The Boids model, which simulates collective… More >

  • Open Access

    ARTICLE

    Physical Layer Security of 6G Vehicular Networks with UAV Systems: First Order Secrecy Metrics, Optimization, and Bounds

    Sagar Kavaiya1, Hiren Mewada2,*, Sagarkumar Patel3, Dharmendra Chauhan3, Faris A. Almalki4, Hana Mohammed Mujlid4

    CMC-Computers, Materials & Continua, Vol.80, No.3, pp. 3685-3711, 2024, DOI:10.32604/cmc.2024.053587 - 12 September 2024

    Abstract The mobility and connective capabilities of unmanned aerial vehicles (UAVs) are becoming more and more important in defense, commercial, and research domains. However, their open communication makes UAVs susceptible to undesirable passive attacks such as eavesdropping or jamming. Recently, the inefficiency of traditional cryptography-based techniques has led to the addition of Physical Layer Security (PLS). This study focuses on the advanced PLS method for passive eavesdropping in UAV-aided vehicular environments, proposing a solution to complement the conventional cryptography approach. Initially, we present a performance analysis of first-order secrecy metrics in 6G-enabled UAV systems, namely hybrid… More >

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