無線ネットワークにおける空中通信のための全方向型マルチロータ航空機のロバスト計画と制御
Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks
3次元位置と姿勢を独立に制御できる全方向型マルチロータ航空機(o-MRAV)を、無線通信ネットワークのロバストな計画・制御に応用し、従来の劣駆動型(u-MRAV)と比較してその利点を整理した。
著者: Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti, Mounir Ghogho, and Martin Saska
分類: cs.RO
原文アブストラクト
A new class of Multi-Rotor Aerial Vehicles (MRAVs), known as omnidirectional MRAVs (o-MRAVs), has gained attention for their ability to independently control 3D position and orientation. This capability enhances robust planning and control in aerial communication networks, enabling more adaptive trajectory planning and precise antenna alignment without additional mechanical components. These features are particularly valuable in uncertain environments, where disturbances such as wind and interference affect communication stability. This paper examines o-MRAVs in the context of robust aerial network planning, comparing them with the more common under-actuated MRAVs (u-MRAVs). Key applications, including physical layer security, optical communications, and network densification, are highlighted, demonstrating the potential of o-MRAVs to improve reliability and efficiency in dynamic communication scenarios.
