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Unmanned aerial vehicle (UAV)-based networks and Internet of Things (IoT) are being considered as integral components of current and next-generation wireless networks. In particular, UAVs can provide IoT devices with seamless connectivity and high coverage and this can be accomplished with effective UAV path planning. In this article, we study robust and decentralized UAV path planning for data collection in IoT networks in the presence of other noncooperative UAVs and adversarial jamming attacks. We address three different practical scenarios, including single UAV path planning, UAV swarm path planning, and single UAV path planning in the presence of an intelligent mobile UAV jammer. We advocate a reinforcement learning framework for UAV path planning in these three scenarios under practical constraints. The simulation results demonstrate that with learning-based path planning, the UAVs can complete their missions with high success rates and data collection rates. In addition, the UAVs can adapt and execute different trajectories as a defensive measure against the intelligent jammer., Comment: 7 pages, 5 figures

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes is a challenging task. In this paper, we consider a path planning optimization problem to maximize the collected data from multiple IoT nodes under realistic constraints. The considered multi-UAV non-cooperative scenarios involve random number of other UAVs in addition to the typical UAV, and UAVs do not communicate or share information among each other. We translate the problem into a Markov decision process (MDP) with parameterized states, permissible actions, and detailed reward functions. Dueling double deep Q-network (D3QN) is proposed to learn the decision making policy for the typical UAV, without any prior knowledge of the environment (e.g., channel propagation model and locations of the obstacles) and other UAVs (e.g., their missions, movements, and policies). The proposed algorithm can adapt to various missions in various scenarios, e.g., different numbers and positions of IoT nodes, different amount of data to be collected, and different numbers and positions of other UAVs. Numerical results demonstrate that real-time navigation can be efficiently performed with high success rate, high data collection rate, and low collision rate., Comment: The final version of this paper has been accepted in IEEE Internet of Things Journal

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks. In this paper, we aim to find collision-free paths for multiple cellular-connected UAVs, while satisfying requirements of connectivity with ground base stations (GBSs) in the presence of a dynamic jammer. We first formulate the problem as a sequential decision making problem in discrete domain, with connectivity, collision avoidance, and kinematic constraints. We, then, propose an offline temporal difference (TD) learning algorithm with online signal-to-interference-plus-noise ratio (SINR) mapping to solve the problem. More specifically, a value network is constructed and trained offline by TD method to encode the interactions among the UAVs and between the UAVs and the environment; and an online SINR mapping deep neural network (DNN) is designed and trained by supervised learning, to encode the influence and changes due to the jammer. Numerical results show that, without any information on the jammer, the proposed algorithm can achieve performance levels close to that of the ideal scenario with the perfect SINR-map. Real-time navigation for multi-UAVs can be efficiently performed with high success rates, and collisions are avoided., Comment: To be published in IEEE International Conference on Communications (ICC) 2021

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectories for multiple UAVs while satisfying requirements of connectivity with ground base stations (GBSs) is a challenging task. In this paper, we first reformulate the multi-UAV trajectory optimization problem with collision avoidance and wireless connectivity constraints as a sequential decision making problem in the discrete time domain. We, then, propose a decentralized deep reinforcement learning approach to solve the problem. More specifically, a value network is developed to encode the expected time to destination given the agent's joint state (including the agent's information, the nearby agents' observable information, and the locations of the nearby GBSs). A signal-to-interference-plus-noise ratio (SINR)-prediction neural network is also designed, using accumulated SINR measurements obtained when interacting with the cellular network, to map the GBSs' locations into the SINR levels in order to predict the UAV's SINR. Numerical results show that with the value network and SINR-prediction network, real-time navigation for multi-UAVs can be efficiently performed in various environments with high success rate., Comment: This paper has been submitted to IEEE for publication

A K-tier heterogeneous mmWave uplink cellular network with clustered user equipments (UEs) is considered in this paper. In particular, UEs are assumed to be clustered around small-cell base stations (BSs) according to a Gaussian distribution, leading to the Thomas cluster process based modeling. Specific and practical line-of-sight (LOS) and non-line-of-sight (NLOS) models are adopted with different parameters for different tiers. The probability density functions (PDFs) and complementary cumulative distribution functions (CCDFs) of different distances from UEs to BSs are characterized. Coupled association strategy and largest long-term averaged biased received power criterion are considered, and general expressions for association probabilities are provided. Following the identification of the association probabilities, the Laplace transforms of the inter-cell interference and the intra-cluster interference are characterized. Using tools from stochastic geometry, general expressions of the SINR coverage probability are provided. As extensions, fractional power control is incorporated into the analysis, tractable closed-form expressions are provided for special cases, and average ergodic spectral efficiency is analyzed. Via numerical and simulation results, analytical characterizations are confirmed and the impact of key system and network parameters on the performance is identified., Comment: To be published in IEEE Access

Beamforming is one of the key techniques in millimeter wave (mmWave) multi-input multi-output (MIMO) communications. Designing appropriate beamforming not only improves the quality and strength of the received signal, but also can help reduce the interference, consequently enhancing the data rate. In this paper, we propose a distributed multi-agent double deep Q-learning algorithm for beamforming in mmWave MIMO networks, where multiple base stations (BSs) can automatically and dynamically adjust their beams to serve multiple highly-mobile user equipments (UEs). In the analysis, largest received power association criterion is considered for UEs, and a realistic channel model is taken into account. Simulation results demonstrate that the proposed learning-based algorithm can achieve comparable performance with respect to exhaustive search while operating at much lower complexity., Comment: To be published in IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC) 2020

In this paper, we jointly consider the downlink simultaneous wireless information and power transfer (SWIPT) and uplink information transmission in unmanned aerial vehicle (UAV)-assisted millimeter wave (mmWave) cellular networks, in which the user equipment (UE) locations are modeled using Poisson cluster processes (e.g., Thomas cluster processes or Mat\'ern cluster processes). Distinguishing features of mmWave communications, such as different path loss models for line-of-sight (LOS) and non-LOS (NLOS) links and directional transmissions are taken into account. In the downlink phase, the association probability, and energy coverages of different tier UAVs and ground base stations (GBSs) are investigated. Moreover, we define a successful transmission probability to jointly present the energy and signal-to-interference-plus-noise ratio (SINR) coverages and provide general expressions. In the uplink phase, we consider the scenario that each UAV receives information from its own cluster member UEs. We determine the Laplace transform of the interference components and characterize the uplink SINR coverage. In addition, we formulate the average uplink throughput, with the goal to identify the optimal time division multiplexing between the donwlink and uplink phases. Through numerical results we investigate the impact of key system parameters on the performance. We show that the network performance is improved when the cluster size becomes smaller. In addition, we analyze the optimal height of UAVs, optimal power splitting value and optimal time division multiplexing that maximizes the network performance.

A K-tier heterogeneous downlink millimeter wave (mmWave) cellular network with user-centric small cell deployments is studied in this paper. In particular, we consider a heterogeneous network model with user equipments (UEs) being distributed according to a Poisson Cluster Process (PCP). Specifically, we address two cluster processes, namely (i) Thomas cluster process, where the UEs are clustered around the base stations (BSs) and the distances between UEs and the BS are modeled as Gaussian distributed, and (ii) Matern cluster process, where the UEs are scattered according to a uniform distribution. In addition, distinguishing features of mmWave communications including directional beamforming and a sophisticated path loss model incorporating both line-of-sight (LOS) and non-line-of-sight (NLOS) transmissions, are taken into account. Initially, the complementary cumulative distribution function (CCDF) and probability density function (PDF) of path loss are provided. Subsequently, using tools from stochastic geometry, we derive a general expression for the signal-to-interference-plus-noise ratio (SINR) coverage probability. Our results demonstrate that coverage probability can be improved by decreasing the size of UE clusters around BSs, decreasing the beamwidth of the main lobe, or increasing the main lobe directivity gain. Moreover, interference has noticeable influence on the coverage performance of our model. We also show that better coverage performance is achieved in the presence of clustered users compared to the case in which the users are distributed according to a Poisson Point Process (PPP).