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A data ferry enables communication in sparse sensor networks by combining physical movement with wireless relaying of data. Optimizing an unmanned aircraft's motion and communication link scheduling, however, requires knowledge of the communication environments through which it moves. Aspects of the radio frequency environment can be opportunistically learned through the process of communicating with...
The persistent data ferrying problem has a naturally cascaded structure between vehicle and communication dynamics, allowing the bandwidth optimization to be encapsulated within a path planning optimization problem. This work analyzes policies that solve the inner bandwidth allocation problem quickly. Given a path and properties about the communication environment, the bandwidth allocation problem...
To enable effective communication-based mission planning, a Scaled Unscented Kalman Filter (SUKF) is implemented on an unmanned aircraft to estimate the communication performance of ground nodes in real time, based solely on signal strength measurements. Our communication model extends Rappaport's log-distance model to account for directional antenna patterns. The filter is tuned on simulated data...
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