Path Invariant Controllers for a Quadrotor With a Cable-Suspended Payload Using a Global Parameterization

Akhtar, Adeel; Saleem, Sajid; Shan, Jinjun

doi:10.1109/tcst.2021.3133693

Cited by 9 publications

(3 citation statements)

References 38 publications

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“…Furthermore, n is the number of selected validators, with minimum values and maximum equal to τ and χ, respectively, and m is the number of transactions per block, with minimum and maximum values equal to S and Y, respectively. The best blockchain configuration is, therefore, possible for the BM by resolving the following optimization problem in (5):…”

Section: Plos Onementioning

confidence: 99%

“…Recent technological advances in mobile aerial robotics and wireless communication and sensing technology have led to significant interest in micro unmanned aerial vehicles (UAVs), which integrate wireless sensors and transceivers in a compact node capable of autonomous flight operation and wireless communication. These UAVs find applications in various fields, such as logistics, cooperative communications [ 1 , 2 ], mobile edge computing [ 3 , 4 ], payload delivery [ 5 ], monitoring, surveillance, and search and rescue missions [ 6 ], to name a few [ 7 , 8 ]. A single UAV is sufficient for simple tasks but more complicated missions require multiple UAVs to coordinate with each other as well as maintain continuous connection with ground nodes, such as IoT sensors/actuators or ground control stations, etc [ 9 , 10 ].…”

Section: Introductionmentioning

confidence: 99%

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Secure UAV adhoc network with blockchain technology

Alqarni

2024

PLoS ONE

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Recent advances in aerial robotics and wireless transceivers have generated an enormous interest in networks constituted by multiple compact unmanned aerial vehicles (UAVs). UAV adhoc networks, i.e., aerial networks with dynamic topology and no centralized control, are found suitable for a unique set of applications, yet their operation is vulnerable to cyberattacks. In many applications, such as IoT networks or emergency failover networks, UAVs augment and provide support to the sensor nodes or mobile nodes in the ground network in data acquisition and also improve the overall network performance. In this situation, ensuring the security of the adhoc UAV network and the integrity of data is paramount to accomplishing network mission objectives. In this paper, we propose a novel approach to secure UAV adhoc networks, referred to as the blockchain-assisted security framework (BCSF). We demonstrate that the proposed system provides security without sacrificing the performance of the network through blockchain technology adopted to the priority of the message to be communicated over the adhoc UAV network. Theoretical analysis for computing average latency is performed based on queuing theory models followed by an evaluation of the proposed BCSF approach through simulations that establish the superior performance of the proposed methodology in terms of transaction delay, data secrecy, data recovery, and energy efficiency.

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Section: Plos Onementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Secure UAV adhoc network with blockchain technology

Alqarni

2024

PLoS ONE

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“…No connection between UAV and ground 47,48,50,51,[53][54][55][56][58][59][60][61][62][63][64][65][66][67][68][69]71,[74][75][76][77][78][79][80][81][82][83][86][87][88]90,91,129,134,137,140,143] Connection for mechanical purposes during part of the operation [193] (only during recovery of payload) [119,131] Very high operating altitude (>1 km) [147,148,175] Short-term missions (inspection) [133,163]…”

Section: Reason For Not Transferring Power Over the Tether Publicationsmentioning

confidence: 99%

Tethered Unmanned Aerial Vehicles—A Systematic Review

et al. 2023

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In recent years, there has been a remarkable surge in the development and research of tethered aerial systems, thus reflecting a growing interest in their diverse applications. Long-term missions involving aerial vehicles present significant challenges due to the limitations of current battery solutions. Tethered vehicles can circumvent such restrictions by receiving their power from an element on the ground such as a ground station or a mobile terrestrial platform. Tethered Unmanned Aerial Vehicles (UAVs) can also be applied to load transportation achieved by a single or multiple UAVs. This paper presents a comprehensive systematic literature review, with a special focus on solutions published in the last five years (2017–2022). It emphasizes the key characteristics that are capable of grouping publications by application scope, propulsion method, energy transfer solution, perception sensors, and control techniques adopted. The search was performed in six different databases, thereby resulting in 1172 unique publications, from which 182 were considered for inclusion in the data extraction phase of this review. Among the various aircraft types, multirotors emerged as the most widely used category. We also identified significant variations in the application scope of tethered UAVs, thus leading to tailored approaches for each use case, such as the fixed-wing model being predominant in the wind generation application and the lighter-than-air aircraft in the meteorology field. Notably, the classical Proportional–Integral–Derivative (PID) control scheme emerged as the predominant control methodology across the surveyed publications. Regarding energy transfer techniques, most publications did not explicitly describe their approach. However, among those that did, high-voltage DC energy transfer emerged as the preferred solution. In summary, this systematic literature review provides valuable insights into the current state of tethered aerial systems, thereby showcasing their potential as a robust and sustainable alternative to address the challenges associated with long-duration aerial missions and load transportation.

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