Multirotor Aerial Vehicles (MRAVs) when integrated into wireless communication systems and equipped with a Reflective Intelligent Surface (RIS) enhance coverage and enable connectivity in obstructed areas. However, due to limited degrees of freedom (DoF), traditional under-actuated MRAVs with RIS are unable to control independently both the RIS orientation and their location, which significantly limits network performance. A new design, omnidirectional MRAV (o-MRAV), is introduced to address this issue. In this paper, an o-MRAV is deployed to assist a terrestrial base station in providing connectivity to obstructed users. Our objective is to maximize the minimum data rate among users by optimizing the o-MRAV’s orientation, location, and RIS phase shift. To solve this challenging problem, we first smooth the objective function and then apply the Parallel Successive Convex Approximation (PSCA) technique to find efficient solutions. Our simulation results show significant improvements of 28% and 14% in terms of minimum and average data rates, respectively, for the o-MRAVs compared to traditional u-MRAVs.

Recent research in communications-aware robotics has been propelled by advancements in 5G and emerging 6G technologies. This field now includes the integration of Multi-Rotor Aerial Vehicles (MRAVs) into cellular networks, with a specific focus on under-actuated MRAVs. These vehicles face challenges in independently controlling position and orientation due to their limited control inputs, which adversely affects communication metrics such as Signal-to-Noise Ratio. In response, a newer class of omnidirectional MRAVs has been developed, which can control both position and orientation simultaneously by tilting their propellers. However, exploiting this capability fully requires sophisticated motion planning techniques. This paper presents a novel application of omnidirectional MRAVs designed to enhance communication security and thwart eavesdropping. It proposes a strategy where one MRAV functions as an aerial Base Station, while another acts as a friendly jammer to secure communications. This study is the first to apply such a strategy to MRAVs in scenarios involving eavesdroppers.

The integration of Multi-Rotor Aerial Vehicles (MRAVs) into 5G and 6G networks enhances coverage, connectivity, and congestion management. This fosters communication-aware robotics, exploring the interplay between robotics and communications, but also makes the MRAVs susceptible to malicious attacks, such as jamming. One traditional approach to counter these attacks is the use of beamforming on the MRAVs to apply physical layer security techniques. In this paper, we explore pose optimization as an alternative approach to countering jamming attacks on MRAVs. This technique is intended for omnidirectional MRAVs, which are drones capable of independently controlling both their position and orientation, as opposed to the more common under-actuated MRAVs whose orientation cannot be controlled independently of their position. In this paper, we consider an omnidirectional MRAV serving as a Base Station (BS) for legitimate ground nodes, under attack by a malicious jammer. We optimize the MRAV pose (i.e., position and orientation) to maximize the minimum Signal-to-Interference-plus-Noise Ratio (SINR) over all legitimate nodes.

The importance of ground mobile robots (MRs) and unmanned aerial vehicles (UAVs) within the research community, industry, and society is growing fast. Nowadays, many of these agents are equipped with communication systems that are, in some cases, essential to successfully achieve certain tasks. In this context, we have begun to witness the development of a new interdisciplinary research field at the intersection of robotics and communications. This research field has been boosted by the intention of integrating UAVs within the 5G and 6G communication networks and will undoubtedly lead to many important applications in the near future. Nevertheless, one of the main obstacles to the development of this research area is that most researchers address these problems by oversimplifying either the robotics or the communications aspects. Doing so impedes the ability to reach the full potential of this new interdisciplinary research area. In this tutorial, we present some of the modeling tools necessary to address problems involving both robotics and communication from an interdisciplinary perspective. As an illustrative example of such problems, we focus on the issue of communication-aware trajectory planning in this tutorial.

Sampling is a core process in IoT systems. It deter-mines the data volume circulating within the network as well as the energy consumption on the IoT devices. Adaptive sampling aims to control the volume of generated data to reduce energy and bandwidth consumption without undermining data quality. Within this context, we propose two new adaptive sampling techniques: a light-weight adaptive sampling algorithm and an optimized uniform sampling method. We tested our methods using various real data-sets and compared their performances against state-of-the-art adaptive sampling algorithms in terms of data quality and data volume. The results show that the proposed methods are consistently among the best with a noticeable reduction in computational load.

We consider the issue of designing closed 3D UAV trajectories that allow for an energy efficient collection of data with a UAV-aided wireless sensor network. We consider a 3D wireless channel model and a realistic dynamical model for the UAV. The proposed trajectory is largely derived analytically, thus making its online calculation computationally tractable. We also show the importance of using realistic dynamical and energy models for the UAV in designing efficient trajectories. This is done mainly by showing that minimising the flying time of the UAV is not equivalent to minimising its energy consumption. Simulation results corroborate these findings.

We propose a deep learning based technique for power quality disturbances (PQD) detection and identification that aims at mimicking the reasoning of human field experts. This technique consists of processing small-size images containing superimposed time and frequency representations of the electric signal. The classification of PQD is performed with a convolutional neural network (CNN) trained with synthetic signals containing various single and multiple PQDs. Simulation results show that our technique is able to detect and identify with a high accuracy, in addition to pure sinusoidal, eight single PQDs and 20 of their combinations (up to four PQDs in the same signal) even in the presence of noise. Features such as lower computational load and simplicity while maintaining high performance sets the proposed technique apart from previous ones.

Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular trajectory chosen by the robot to reach the goal point. In this context, we develop a method to generate optimum trajectories which allow the robot to reach the goal point using little mechanical energy while transmitting as much data as possible. This is done by optimizing the trajectory (path and velocity profile) so that the robot consumes less energy while also offering good wireless channel conditions. In this article, we consider a realistic wireless channel model as well as a realistic dynamic model for the mobile robot (considered here to be a drone). Simulations results illustrate the merits of the proposed method.

Mobile robots (MRs) using wireless communications often experience small-scale fading so that the wireless channel gain can be low. If the channel gain is poor (due to fading), the robot can move (a small distance) to another location to improve the channel gain and so compensate for fading. Techniques using this principle are called mobility diversity algorithms (MDAs). MDAs intelligently explore a number of points to find a location with high channel gain while using little mechanical energy during the exploration. Until now, the location of these points has been predetermined. In this paper, we show how we can adapt their positions by using channel predictors. Our results show that MDAs, which adapt the location of those points, can in fact outperform (in terms of the channel gain obtained and mechanical energy used) the MDAs that use predetermined locations for those points. These results will significantly improve the performance of the MDAs and consequently allow MRs to mitigate poor wireless channel conditions in an energy-efficient manner.

A new problem of optimizing a wireless mobile terminal trajectory under a given communication constraint is introduced. The mobile or vehicle has to move from a given starting point to a target point while uploading/downloading a given amount of data; this contrasts with the classical mobile communications paradigm where the communication and motion aspects are assumed to be independent. To reach the two aforementioned objectives, the mobile has to move sufficiently close to the wireless base station, while accounting for the energy cost due to motion. This setup is formalized here and leads us to determining non-trivial trajectories for the mobile. Remarkably, a counterpart of the Snell-Descartes law for the light propagation is exhibited (see Prop. 2) for the optimal trajectory of the mobile when the latter crosses zones in which the available data rates are different.

Mobile robots that wish to communicate wirelessly often suffer from fading channels. They need to devise an energy-efficient strategy to search for a high-channel-gain position in a near vicinity from which to begin communications. Such a strategy has recently been introduced through the mobility diversity with multithreshold algorithm (MDMTA). In this paper, we establish the theoretical framework for a generalized version of the MDMTA. This allows improved wireless communications in fading channels for mobile robots via intelligent robotic motion with low mechanical energy expenditure.

In this article we present an angle of arrival (AoA) multi-robot system for rescue purposes which takes advantage of robots' mobility to improve the position estimate of an unknown target. The robots move according to a certain trajectory (a sequence of stopping points) designed to minimize the variance of the AoA estimation. We present two different techniques to generate these optimal trajectories, with each technique having its own advantage.