Recently, unmanned aerial vehicles (UAVs) have been applied to various applications. In order to perform repetitive and accurate tasks with a UAV, it is more efficient for the operator to perform the tasks through an integrated management program rather than controlling the UAVs one by one through a controller. In this environment, control packets must be reliably delivered to the UAV to perform missions stably. However, wireless communication is at risk of packet loss or packet delay. Typical network communications can respond to situations in which packets are lost by retransmitting lost packets. However, in the case of UAV control, delay due to retransmission is fatal, so control packet loss and delay should not occur. As UAVs move quickly, there is a high risk of accidents if control packets are lost or delayed. In order to stably control a UAV by transmitting control messages, we propose a control packet transmission scheme, ConClone. ConClone replicates control packets and then transmits them over multiple network connections to increase the probability of successful control packet transmission. We implemented ConClone using real equipment, and we verified its performance through experiments and theoretical analysis.

Delayed ACK is an algorithm implemented to decrease the number of ACK transmissions by delaying an ACK transmission and by waiting for additional ACK instead of transmitting the ACK immediately. By using Delayed ACK in TCP, the congestion of network and the overhead of handling ACKs can be reduced. Waiting time of Delayed ACK is defined as the Delayed ACK timeout, and it is fixed in Window OS basically.However, the fixed value of Delayed ACK timeout is not suitable for dynamic network circumstance, and it may cause unnecessary delay. This paper proposes a regulating Delayed ACK timeout algorithm to reduce the aforementioned unnecessary delay caused by the lengthy default value of the Delayed ACK timeout. We confirm that TCP transmission performance in dynamic network circumstance can be improved using the proposed algorithm.