Wireless communication with unmanned aerial vehicles (UAVs) is a promising technology for future communication systems. In this paper, assuming that the UAV flies horizontally with a fixed altitude, ...we study energy-efficient UAV communication with a ground terminal via optimizing the UAV's trajectory, a new design paradigm that jointly considers both the communication throughput and the UAV's energy consumption. To this end, we first derive a theoretical model on the propulsion energy consumption of fixed-wing UAVs as a function of the UAV's flying speed, direction, and acceleration. Based on the derived model and by ignoring the radiation and signal processing energy consumption, the energy efficiency of UAV communication is defined as the total information bits communicated normalized by the UAV propulsion energy consumed for a finite time horizon. For the case of unconstrained trajectory optimization, we show that both the rate-maximization and energy-minimization designs lead to vanishing energy efficiency and thus are energy-inefficient in general. Next, we introduce a simple circular UAV trajectory, under which the UAV's flight radius and speed are jointly optimized to maximize the energy efficiency. Furthermore, an efficient design is proposed for maximizing the UAV's energy efficiency with general constraints on the trajectory, including its initial/final locations and velocities, as well as minimum/maximum speed and acceleration. Numerical results show that the proposed designs achieve significantly higher energy efficiency for UAV communication as compared with other benchmark schemes.
Energy consumption is one of the important design aspect for data collection in wireless sensor networks (WSNs). This paper studies data collection from a set of sensor nodes (SNs) in WSNs enabled by ...multiple unmanned aerial vehicles (UAVs). We aim to minimize the maximum mission completion time among all UAVs by jointly optimizing the UAV trajectory, as well as the wake-up scheduling and association for SNs, while ensuring that each SN can successfully upload the targeting amount of data with a given energy budget. The formulated problem is a non-convex problem which is difficult to be solved directly. To tackle this problem, we first propose a simple scheme that each UAV only collects data while hovering, termed as hovering mode (Hmode). For this mode, in order to find the optimized hovering locations for each SN and the serving order among all locations, we propose an efficient algorithm by leveraging the min-max multiple Traveling Salesman Problem (min-max m-TSP) and convex optimization techniques. Furthermore, we propose the more general scheme that enables continuous data collection even while flying, termed as flying mode (Fmode). By leveraging bisection method and time discretization technique, the original problem is transformed into a discretized equivalent with a finite number of optimization variables, based on which a Karush-Kuhn-Tucker (KKT) solution is obtained by applying the successive convex approximation (SCA) technique. The simulation results show that the proposed multi-UAV enabled data collection with joint trajectory and communication design achieves significant performance gains over the benchmark schemes.
Millimeter wave (mmWave) communication is a promising technology for future wireless systems, while one practical challenge is to achieve its large-antenna gains with only limited radio frequency ...(RF) chains for cost-effective implementation. To this end, we study in this paper a new lens antenna array enabled mmWave multiple-input multiple-output (MIMO) communication system. We first show that the array response of lens antenna arrays follows a "sinc" function, where the antenna element with the peak response is determined by the angle of arrival (AoA)/departure (AoD) of the received/transmitted signal. By exploiting this unique property along with the multi-path sparsity of mmWave channels, we propose a novel low-cost and capacity-achieving spatial multiplexing scheme for both narrow-band and wide-band mmWave communications, termed path division multiplexing (PDM), where parallel data streams are transmitted over different propagation paths with simple per-path processing. We further propose a simple path grouping technique with group-based small-scale MIMO processing to effectively mitigate the inter-stream interference due to similar AoAs/AoDs. Numerical results are provided to compare the performance of the proposed mmWave lens MIMO against the conventional MIMO with uniform planar arrays (UPAs) and hybrid analog/digital processing. It is shown that the proposed design achieves significant throughput gains as well as complexity and cost reductions, thus leading to a promising new paradigm for mmWave MIMO communications.
Due to the high maneuverability, flexible deployment, and low cost, unmanned aerial vehicles (UAVs) have attracted significant interest recently in assisting wireless communication. This paper ...considers a multi-UAV enabled wireless communication system, where multiple UAV-mounted aerial base stations are employed to serve a group of users on the ground. To achieve fair performance among users, we maximize the minimum throughput over all ground users in the downlink communication by optimizing the multiuser communication scheduling and association jointly with the UAV's trajectory and power control. The formulated problem is a mixed integer nonconvex optimization problem that is challenging to solve. As such, we propose an efficient iterative algorithm for solving it by applying the block coordinate descent and successive convex optimization techniques. Specifically, the user scheduling and association, UAV trajectory, and transmit power are alternately optimized in each iteration. In particular, for the nonconvex UAV trajectory and transmit power optimization problems, two approximate convex optimization problems are solved, respectively. We further show that the proposed algorithm is guaranteed to converge. To speed up the algorithm convergence and achieve good throughput, a low-complexity and systematic initialization scheme is also proposed for the UAV trajectory design based on the simple circular trajectory and the circle packing scheme. Extensive simulation results are provided to demonstrate the significant throughput gains of the proposed design as compared to other benchmark schemes.
In this paper, we consider a novel mobile relaying technique, where the relay nodes are mounted on unmanned aerial vehicles (UAVs) and hence are capable of moving at high speed. Compared with ...conventional static relaying, mobile relaying offers a new degree of freedom for performance enhancement via careful relay trajectory design. We study the throughput maximization problem in mobile relaying systems by optimizing the source/relay transmit power along with the relay trajectory, subject to practical mobility constraints (on the UAV's speed and initial/final relay locations), as well as the information-causality constraint at the relay. It is shown that for the fixed relay trajectory, the throughput-optimal source/relay power allocations over time follow a "staircase" water filling structure, with non-increasing and non-decreasing water levels at the source and relay, respectively. On the other hand, with given power allocations, the throughput can be further improved by optimizing the UAV's trajectory via successive convex optimization. An iterative algorithm is thus proposed to optimize the power allocations and relay trajectory alternately. Furthermore, for the special case with free initial and final relay locations, the jointly optimal power allocation and relay trajectory are derived. Numerical results show that by optimizing the trajectory of the relay and power allocations adaptive to its induced channel variation, mobile relaying is able to achieve significant throughput gains over the conventional static relaying.
This paper studies a new unmanned aerial vehicle (UAV)-enabled wireless power transfer system, where a UAV-mounted mobile energy transmitter is dispatched to deliver wireless energy to a set of ...energy receivers (ERs) at known locations on the ground. We investigate how the UAV should optimally exploit its mobility via trajectory design to maximize the amount of energy transferred to all ERs during a finite charging period. First, we consider the maximization of the sum energy received by all ERs by optimizing the UAV's trajectory subject to its maximum speed constraint. Although this problem is non-convex, we obtain its optimal solution, which shows that the UAV should hover at one single fixed location during the whole charging period. However, the sum-energy maximization incurs a "near-far" fairness issue, where the received energy by the ERs varies significantly with their distances to the UAV's optimal hovering location. To overcome this issue, we consider a different problem to maximize the minimum received energy among all ERs, which, however, is more challenging to solve than the sum-energy maximization. To tackle this problem, we first consider an ideal case by ignoring the UAV's maximum speed constraint, and show that the relaxed problem can be optimally solved via the Lagrange dual method. The obtained trajectory solution implies that the UAV should hover over a set of fixed locations with optimal hovering time allocations among them. Then, for the general case with the UAV's maximum speed constraint considered, we propose a new successive hover-and-fly trajectory motivated by the optimal trajectory in the ideal case and obtain efficient trajectory designs by applying the successive convex programing optimization technique. Finally, numerical results are provided to evaluate the performance of the proposed designs under different setups, as compared with benchmark schemes.
Radio-frequency (RF) enabled wireless energy transfer (WET), as a promising solution to provide cost-effective and reliable power supplies for energy-constrained wireless networks, has drawn growing ...interests recently. To overcome the significant propagation loss over distance, employing multi-antennas at the energy transmitter (ET) to more efficiently direct wireless energy to desired energy receivers (ERs), termed energy beamforming, is an essential technique for enabling WET. However, the achievable gain of energy beamforming crucially depends on the available channel state information (CSI) at the ET, which needs to be acquired practically. In this paper, we study the design of an efficient channel acquisition method for a point-to-point multiple-input multiple-output (MIMO) WET system by exploiting the channel reciprocity, i.e., the ET estimates the CSI via dedicated reverse-link training from the ER. Considering the limited energy availability at the ER, the training strategy should be carefully designed so that the channel can be estimated with sufficient accuracy, and yet without consuming excessive energy at the ER. To this end, we propose to maximize the net harvested energy at the ER, which is the average harvested energy offset by that used for channel training. An optimization problem is formulated for the training design over MIMO Rician fading channels, including the subset of ER antennas to be trained, as well as the training time and power allocated. Closed-form solutions are obtained for some special scenarios, based on which useful insights are drawn on when training should be employed to improve the net transferred energy in MIMO WET systems.
Unmanned aerial vehicles (UAVs) have a great potential for improving the performance of wireless communication systems due to their high mobility. In this correspondence, we study a UAV-enabled data ...collection system, where a UAV is dispatched to collect a given amount of data from a ground terminal (GT) at fixed location. Intuitively, if the UAV flies closer to the GT, the uplink transmission energy of the GT required to send the target data can be more reduced. However, such UAV movement may consume more propulsion energy of the UAV, which needs to be properly controlled to save its limited on-board energy. As a result, the transmission energy reduction of the GT is generally at the cost of higher propulsion energy consumption of the UAV, which leads to a new fundamental energy tradeoff in ground-to-UAV wireless communication. To characterize this tradeoff, we consider two practical UAV trajectories, namely circular flight and straight flight. In each case, we first derive the energy consumption expressions of the UAV and GT and then find the optimal GT transmit power and UAV trajectory that achieve different Pareto optimal tradeoffs between them. Numerical results are provided to corroborate our study.
Integrating the unmanned aerial vehicles (UAVs) into the cellular network is envisioned to be a promising technology to significantly enhance the communication performance of both UAVs and existing ...terrestrial users. In this paper, we first provide an overview on the two main research paradigms in cellular UAV communications, namely, cellular-enabled UAV communication with UAVs as new aerial users served by the ground base stations (GBSs), and UAV-assisted cellular communication with UAVs as new aerial communication platforms serving the terrestrial users. Then, we focus on the former paradigm and study a new UAV trajectory design problem subject to practical communication connectivity constraints with the GBSs. Specifically, we consider a cellular-connected UAV in the mission of flying from an initial location to a final location that are given, during which it needs to maintain reliable communication with the cellular network by associating with one of the available GBSs at each time instant that has the best line-of-sight channel (or shortest distance) with it. We aim to minimize the UAV's mission completion time by optimizing its trajectory, subject to a quality-of-connectivity constraint of the GBS-UAV link specified by a minimum receive signal-to-noise ratio target, which needs to be satisfied throughout its mission. To tackle this challenging non-convex optimization problem, we first propose an efficient method to verify its feasibility via checking the connectivity between two given vertices on an equivalent graph. Next, by examining the GBS-UAV association sequence over time, we obtain useful structural results on the optimal UAV trajectory, based on which two efficient methods are proposed to find high-quality approximate trajectory solutions by leveraging the techniques from graph theory and convex optimization. The proposed methods are analytically shown to be capable of achieving a flexible tradeoff between complexity and performance, and yielding a solution in polynomial time with the performance arbitrarily close to that of the optimal solution. Numerical results further validate the effectiveness of our proposed designs against benchmark schemes. Finally, we make concluding remarks and point out promising directions for future work.
This paper studies an unmanned aerial vehicle (UAV)-enabled multicasting system, where a UAV is dispatched to disseminate a common file to a set of ground terminals (GTs). We aim to design the UAV ...trajectory to minimize its mission completion time, while ensuring that each GT successfully recovers the file with a desired high probability. The formulated problem is nonconvex and difficult to be solved in its original form. Therefore, we first derive an effective lower bound for the success file recovery probability of each GT. The problem is then reformulated in a more tractable form, where the UAV trajectory only needs to be designed to ensure the minimum connection time constraint with each GT, during which their distance is below a certain threshold. We show that without loss of optimality, the UAV trajectory consists of connected line segments only, which can be obtained by determining the optimal set of waypoints as well as the UAV speed along the path connecting the waypoints. We propose efficient schemes for the waypoint design based on a novel concept of virtual base station placement and by applying convex optimization. Furthermore, for fixed waypoints, the optimal UAV speed is efficiently obtained by solving a linear programming problem. Numerical results show that the proposed UAV-enabled multicasting with optimized trajectory design achieves significant performance gains over other benchmark schemes.
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