This paper studies the problem of real-time routing in a multi-autonomous robot enhanced network at uncertain and vulnerable tactical edge. Recent network protocols, such as opportunistic mobile network routing protocols, engaged social network in communication network that can increase the interoperability by using social mobility and opportunistic carry and forward routing algorithms. However, in practical harsh environment such as a battlefield, the uncertainty of social mobility and complexity of vulnerable environment due to unpredictable physical and cyber-attacks from enemy, would seriously affect the effectiveness and practicality of these emerging network protocols. This paper presents a GT-SaRE-MANET (Game Theoretic Situation-aware Robot Enhanced Mobile Ad-hoc Network) routing protocol that adopt the online reinforcement learning technique to supervise the mobility of multi-robots as well as handle the uncertainty and potential physical and cyber attack at tactical edge. Firstly, a set of game theoretic mission oriented metrics has been introduced to describe the interrelation among network quality, multi-robot mobility as well as potential attacking activities. Then, a distributed multi-agent game theoretic reinforcement learning algorithm has been developed. It will not only optimize GT-SaRE-MANET routing protocol and the mobility of multi-robots online, but also effectively avoid the physical and/or cyber-attacks from enemy by using the game theoretic mission oriented metrics. The effectiveness of proposed design has been demonstrated through computer aided simulations and hardware experiments.

Positioning information plays a significant role in multi-unmanned aerial vehicles (UAVs) applications. Traditionally, the positioning information is widely provided by Global Navigation Satellite System (GNSS) due to its good performance and global coverage. However, owing to complicated flight environment or signal blockage, jamming and unintentional interference, the UAVs may fail to locate themselves by using GNSS alone. As a new method to resolve these problems, cooperative positioning, by incorporating peer-to-peer range measurements and assisted information, has attracted more and more attentions due to its ability to enhance the accuracy and availability of positioning. However, achieving good performance of cooperative positioning of multi-UAVs is challenging as their mobility, arbitrary nonlinear state-evolution, measurement models and limited computation and communication resources. In this paper, we present a factor graph (FG) representation and message passing methodology to solve cooperative positioning problem among UAVs in 3-dimensional environment where GNSS cannot provide services. Moreover, to deal with the nonlinear state-evolution and measurement models while decreasing the computation complexity and communication cost, we develop a distributed algorithm for dynamic and hybrid UAVs by means of Spherical-Radial Cubature Rules (CR) method with belief propagation (BP) and variational message passing (VMP) methods (CRBP-VMP) on the FG. The proposed CRBP deals with the highly non-linear state-evolution models and non-Gaussian distributions, the VMP method is employed for ranging message, gets the simpler message representation and can reduce communication cost in the joint estimation problem. Simulation results demonstrate that the higher positioning accuracy, the better convergence as well as low computational complexity and communication cost of the proposed CRBP-VMP algorithm, which can be achieved compared with sum-product algorithm over a wireless network (SPAWN) and traditional Cubature Kalman Filters (CKF) method.

In resent years, providing location services for mobile targets in a closed environment has been a growing interest. In order to provide good localization and tracking performance for drones in GPS-denied scenarios, this paper proposes a multi-tag radio frequency identification (RFID) system that is easy to equip and does not take up the limited resources of the drone which is not susceptible to processor performance and cost constraints compared with computer vision based approaches. The passive RFID tags, no battery equipped, have an ultra-high resolution of millimeter level. We attach multiple tags to the drone and form multiple sets of virtual antenna arrays during motion, avoiding arranging redundant antennas in applications, and calibrating the speed chain to improve tracking performance. After combining the strap-down inertial navigation system (SINS) carried by the drone, we have established a coupled integration model that can suppress the drift error of SINS with time. The experiment was designed in bi-dimensional and three-dimensional scenarios, and the integrated positioning system based on SINS/RFID was evaluated. Finally, we discussed the impact of some parameters, this innovative approach is verified in real scenarios.

We research device-free (DF) multi-target tracking scheme in this paper. The existing localization and tracking algorithms are always pay attention to the single target and need to collect a large amount of localization information. In this paper, we exploit the sparse property of multiple target locations to achieve target trace accurately with much less sampling both in the wireless links and the time slots. The proposed approach mainly includes the target localization part and target trace recovery part. In target localization part, by exploiting the inherent sparsity of the target number, Compressive Sensing (CS) is utilized to reduce the wireless links distributed. In the target trace recovery part, we exploit the compressive property of target trace, as well as designing the measurement matrix and the sparse matrix, to reduce the samplings in time domain. Additionally, Kronecker Compressive Sensing (KCS) theory is used to simultaneously recover the multiple traces both of the X label and the Y Label. Finally, simulations show that the proposed approach holds an effective recovery performance.

Due to the rapid development of small satellite technology and the advantages of LEO satellite with low delay and low propagation loss as compared with the traditional GEO satellite, the broadband LEO constellation satellite communication system has gradually become one of the most important hot spots in the field of satellite communications. Many countries and satellite communication companies in the world are formulating the project of broadband satellite communication system. The broadband satellite communication system is different from the traditional satellite communication system. The former requires a higher transmission rate. In the case of high-speed transmission, if the low elevation constellation is adopted, the satellite beam will be too much, which will increase the complexity of the satellite. It is difficult to realize the low-cost satellite. By comparing the complexity of satellite realization under different elevation angles to meet the requirement of terminal speed through link computation, this paper puts forward the conception of building broadband LEO constellation satellite communication system with high elevation angle. The constraint relation between satellite orbit altitude and user edge communication elevation angle is proposed by theoretical Eq. deduction. And the simulation is carried out for the satellite orbit altitude and edge communication elevation angle.

Double-rotor drone shows totally different flight performance. Extracting and analyzing its motion track is very helpful to improve its control approaches to achieve a robust and flight attitude. A novel EMD of endpoint effect suppression is proposed in this paper to accurately extract the DR drone's motion track. The proposed algorithm can effectively suppress the endpoint effect with a complex matching of both position and slope of the record of flight data from sensors. The computer simulation and experiment results both have demonstrated the proposed method's effectiveness and the feasibility of the designed DR drone.

The security of Unmanned Aerial Vehicle (UAV) swarms is threatened by the deployment of anti-UAV systems under complicated environments such as battlefield. Specifically, the faults caused by anti-UAV systems exhibit sparse and compressible characteristics. In this paper, in order to improve the survivability of UAV swarms under complicated environments, we propose a novel multi-abnormality self-detecting and faults location method, which is based on compressed sensing (CS) and takes account of the communication characteristics of UAV swarms. The method can locate the faults when UAV swarms are suffering physical damages or signal attacks. Simulations confirm that the proposed method performs well in terms of abnormalities detecting and faults location when the faults quantity is less than 17% of the quantity of UAVs.

Unmanned aerial vehicle (UAV) communication has drawn rising interest recently with the distinctive gains brought by its inherent mobility. In this paper, we investigate the throughput maximization problem in UAV-enabled uplink communication, where multiple ground nodes communicate with a UAV while a group of ground jammers send jamming signals to jam the communications between UAV and the ground nodes. In contrast to the previous works that only considering UAV's transmit power allocation and two-dimension (2D) trajectory design, the ground nodes' transmit power allocation and scheduling along with the UAV's three-dimensional (3D) trajectory design are jointly optimized. The formulated throughput maximization problem is a mixed-integer non-convex programme that hard to be solved in general. Thus, we propose an iterative algorithm to make the problem trackable by applying the block coordinate descent and successive convex optimization techniques. Simulation results show that our proposed algorithm outperforms the benchmark methods that improving the throughput of the system significantly.

The distinctive characteristics of unmanned aerial vehicle networks (UAVNs), including highly dynamic network topology, high mobility, and open-air wireless environments, may make UAVNs vulnerable to attacks and threats. Due to the special security requirements, researching in the high reliability of the power and communication network in drone monitoring system become special important. The reliability of the communication network and power in the drone monitoring system has been studied. In order to assess the reliability of the system power supply in the drone emergency monitoring system, the accelerated life tests under constant stress were presented based on the exponential distribution. Through a comparative analysis of lots of factors, the temperature was chosen as the constant accelerated stress parameter. With regard to the data statistical analysis, the type-I censoring sample method was put forward. The mathematical model of the drone monitoring power supply was established and the average life expectancy curve was obtained under different temperatures through the analysis of experimental data. The results demonstrated that the mathematical model and the average life expectancy curve were fit for the actual very well. With overall consideration of the communication network topology structure and network capacity the improved EED-SDP method was put forward in drone monitoring. It is concluded that reliability analysis of power and communication network in drone monitoring system is remarkably important to improve the reliability of drone monitoring system.

In order to solve the influence of scale change on target tracking using the drone, a multi-scale target tracking algorithm is proposed which based on the color feature tracking algorithm. The algorithm realized adaptive scale tracking by training position and scale correlation filters. It can first obtain the target center position of next frame by computing the maximum of the response, where the position correlation filter is learned by the least squares classifier and the dimensionality reduction for color features is analyzed by principal component analysis. The scale correlation filter is obtained by color characteristics at 33 rectangular areas which is set by the scale factor around the central location and is reduced dimensions by orthogonal triangle decomposition. Finally, the location and size of the target are updated by the maximum of the response. By testing 13 challenging video sequences taken by the drone, the results show that the algorithm has adaptability to the changes in the target scale and its robustness along with many other performance indicators are both better than the most state-of-the-art methods in illumination Variation, fast motion, motion blur and other complex situations.

In this paper, we consider a hybrid satellite terrestrial cooperative network with a multi-antenna relay where the satellite links follows the shadowed-Rician fading and the terrestrial link undergoes the correlated Rayleigh fading. Specifically, two different channel state information (CSI) assumptions are considered: 1) full CSI at the relay; 2) full CSI of satellite-relay link and statistical CSI of relay-destination link at the relay. In addition, selection combining (SC) or maximal ratio combining (MRC) are used at the destination to combine the signals from direct link and relay link. By considering the above four cases, we derived the closed-form expressions for the outage probability (OP) respectively. Furthermore, the asymptotic OP expressions at high signal-to-noise (SNR) are developed to reveal the diversity orders and the array gains of the considered network. Finally, numerical results are provided to validate our analytical expressions as well as the system performance for different cases.

Unmanned aerial vehicle mounted base stations (UAV-BSs) can provide wireless cellular service to ground users in a variety of scenarios. The efficient deployment of such UAV-BSs while optimizing the coverage area is one of the key challenges. We investigate the deployment of UAV-BS to maximize the coverage of ground users, and further analyzes the impact of the deployment of UAV-BS on the fairness of ground users. In this paper, we first calculated the location of the UAV-BS according to the QoS requirements of the ground users, and then the fairness of ground users is taken into account by calculating three different fairness indexes. The performance of two genetic algorithms, namely Standard Genetic Algorithm (SGA) and Multi-Population Genetic Algorithm (MPGA) are compared to solve the optimization problem of UAV-BS deployment. The simulations are presented showing that the performance of the two algorithms, and the fairness performance of the ground users is also given.

Due to the depletion of the public IPv4 address pool, the transition to IPv6 became inevitable. However, this ongoing transition is taking a long time, and the two incompatible versions of the Internet Protocol must coexist. Different IPv6 transition technologies were developed, which can be used to enable communication in various scenarios, but they also involve additional security issues. In this paper, first, we introduce our methodology for analyzing the security of IPv6 transition technologies in a nutshell. Then, we develop a priority classification method for the ranking of different IPv6 transition technologies and their most important implementations, so that the vulnerabilities of the most crucial ones may be examined first. Next, we conduct a comprehensive survey of the existing IPv6 transition technologies by describing their application scenarios and the basics of their operation and we also determine the priorities of their security analysis according to our ranking system. Finally, we show that those IPv6 transition technologies that we gave high priorities, cover the most relevant scenarios.

It is generally believed that jamming signals similar to communication signals tend to demonstrate better jamming effects. We believe that the above conclusion only works in certain situations. To select the correct jamming scheme for a multi-level quadrature amplitude modulation (MQAM) signal in a complex environment, an optimal jamming method based on orthogonal decomposition (OD) is proposed. The method solves the jamming problem from the perspective of the in-phase dimension and quadrature dimension and exhibits a better jamming effect than normal methods. The method can construct various unconventional jamming schemes to cope with a complex environment and verify the existing jamming schemes. The Experimental results demonstrate that when the jammer ideally knows the received power at the receiver, the proposed method will always have the optimal jamming effects, and the constructed unconventional jamming scheme has an excellent jamming effect compared with normal schemes in the case of a constellation distortion.

Energy consumption is one of the important issues in communication networks, and it is expected that network devices such as network interface cards will be turned off to decrease the energy consumption. Moreover, fast failure recovery is an important issue in large-scale communication networks to minimize the impact of failure on data transmission. In order to realize both low energy consumption and fast failure recovery, a method called LE-MRC (Low-Energy based Multiple Routing Configurations) has been proposed. However, LE-MRC can degrade network robustness because some links ports are turned off for reducing the energy consumption. Nevertheless, network robustness is also important for maintaining the performance of data transmission and the network functionality. In this paper, for realizing both low energy consumption and fast failure recovery while maintaining network robustness, we propose Robustness and Low-Energy based Multiple Routing Configurations (RLE-MRC). In RLE-MRC, some links are categorized into unnecessary links, and those links are turned off to lower the energy consumption. In particular, the number of excluded links is determined based on the network robustness. As a result, the energy consumption can be reduced so as not to degrade the network robustness significantly. Simulations are conducted on some network topologies to evaluate the performance of RLE-MRC. We also use ns-3 to evaluate how the performance of data transmission and network robustness are changed by using RLE-MRC. Numerical examples show that the low energy consumption and the fast failure recovery can be achieved while maintaining network robustness by using RLE-MRC.

In millimeter wave (mmWave) vehicular communications, multi-hop relay disconnection by line-of-sight (LOS) blockage is a critical problem, particularly in the early diffusion phase of mmWave-available vehicles, where not all vehicles have mmWave communication devices. This paper proposes a distributed position control method to establish long relay paths through road side units (RSUs). This is realized by a scheme via which autonomous vehicles change their relative positions to communicate with each other via LOS paths. Even though vehicles with the proposed method do not use all the information of the environment and do not cooperate with each other, they can decide their action (e.g., lane change and overtaking) and form long relays only using information of their surroundings (e.g., surrounding vehicle positions). The decision-making problem is formulated as a Markov decision process such that autonomous vehicles can learn a practical movement strategy for making long relays by a reinforcement learning (RL) algorithm. This paper designs a learning algorithm based on a sophisticated deep reinforcement learning algorithm, asynchronous advantage actor-critic (A3C), which enables vehicles to learn a complex movement strategy quickly through its deep-neural-network architecture and multi-agent-learning mechanism. Once the strategy is well trained, vehicles can move independently to establish long relays and connect to the RSUs via the relays. Simulation results confirm that the proposed method can increase the relay length and coverage even if the traffic conditions and penetration ratio of mmWave communication devices in the learning and operation phases are different.

An underdetermined direction of arrival estimation method based on signal sparsity is proposed when independent and coherent signals coexist. Firstly, the estimate of the mixing matrix of the impinging signals is obtained by clustering the single source points which are detected by the ratio of time-frequency transforms of the received signals. Then, each column vector of the mixing matrix is processed by exploiting the forward and backward vectors in turn to obtain the directions of arrival of all signals. The number of independent signals and coherent signal groups that can be estimated by the proposed method can be greater than the number of sensors. The validity of the method is demonstrated by simulations.

This paper proposes an XOR physical layer network coding (XOR-PLNC) with non-linear precoding for quadrature amplitude modulations (QAMs) in bi-directional MIMO relay systems. The proposed XOR-PLNC applies power loading in order to improve the transmission performance. The proposed XOR-PLNC introduces a modulus adapted to channel gains. Moreover, the modulus is further reduced in cooperation with modulo operation which the non-linear precoding employs for improvement of transmission power efficiency. The use of the reduced modulus improves the energy efficiency of the signal transmission, which improves the transmission performance in the proposed XOR-PLNC. The performance is evaluated by computer simulations in bi-directional MIMO relay channels with 16QAM to 1024QAM.

Unlike Radio Frequency Identification (RFID), emerging Computational RFID (CRFID) integrates the RF front-end and MCU with multiple sensors. CRFIDs need to transmit data within the interrogator range, so when the tags moved rapidly or the contact duration with interrogator is limited, the sensor data collected by CRFID must be transferred to interrogator quickly. In this paper, we focus on throughput optimization for backscatter link, take physical and medium access control (MAC) layers both into consideration, put forward our scheme called ORRIS. On physical layer, we propose Cluster Gather Degree (CGD) indicator, which is the clustering degree of signal in IQ domain. Then CGD is regarded as the criterion to adaptively adjust the rate encoding mode and link frequency, accordingly achieve adaptive rate transmission. On MAC layer, based on the idea of asynchronous transfer, we utilize the the number of clusters in IQ domain to select the optimal Q value as much as possible. So that achieve burst transmission or bulk data transmission. Experiments and analyses on the static and mobile scenarios show that our proposal has significantly better mean throughput than BLINK or CARA, which demonstrate the effectiveness of our scheme.