A thorough treatment of UAV wireless communications and networking research challenges and opportunities. Detailed, step-by-step development of carefully selected research problems that pertain to UAV network performance analysis and optimization, physical layer design, trajectory and path planning, resource management, multiple access, cooperative communications, standardization, control, and security is provided. Featuring discussion of practical applications including drone delivery systems, public safety, IoT, virtual reality, and smart cities, this is an essential tool for researchers, students, and engineers interested in broadening their knowledge of the deployment and operation of communication systems that integrate or rely on unmanned aerial vehicles.

This book, written by the most prominent experts in the field, provides a complete in-depth analysis of UAV wireless communications. It should become a reference material for all the students, engineers, and researchers who are building our next-generation wireless communication networks.”
'This is the most comprehensive book on the rapidly evolving field of wireless communications and networking for UAVs. The authors are among the researchers who have made the most profound contributions to this emerging field. Their impressive command of the subject matter results in a thorough presentation taking theory, practice, and industrial standards into account. A must-read for researchers and engineers working in this field.”

Acknowledgments xii

1 Wireless Communications and Networking with Unmanned Aerial Vehicles: An Introduction 1

1.1 Brief Evolution of UAV Technology 1

1.2 UAV Types and Regulations 2

      1.2.1 Classification of UAVs 3

      1.2.2 UAV Regulations 4

1.3 Wireless Communications and Networking with UAVs 5

      1.3.1 UAVs as Flying Wireless Base Stations 6

      1.3.2 UAVs as Wireless Network User Equipment 8

      1.3.3 UAVs as Relays 9

1.4 Summary and Book Overview 10

2 UAV Applications and Use Cases 12

2.1 UAVs for Public Safety Scenarios 12

2.2 UAV-Assisted Ground Wireless Networks for Information Dissemination 13

2.3 Three-Dimensional MIMO and Millimeter-Wave Communication with UAVs 14

2.4 Drones in Internet of Things Systems 16

2.5 UAVs for Virtual Reality Applications 16

2.6 Drones in Wireless Backhauling for Ground Networks 18

2.7 Cellular-Connected UAV UEs 19

2.8 UAVs in a Smart City 20

2.9 Chapter Summary 21

3 Aerial Channel Modeling and Waveform Design 22

3.1 Fundamentals of Radio Wave Propagation and Modeling 23

3.2 Overview of Aerial Wireless Channel Characteristics 27

3.3 Large-Scale Propagation Channel Effects 30

      3.3.1 Free-Space Path Loss 30

      3.3.2 Ray Tracing 31

      3.3.3 Log-Distance Path Loss Models 37

      3.3.4 Empirical Path Loss Models 40

      3.3.5 Shadowing 42

      3.3.6 Line-of-Sight Probability 44

      3.3.7 Atmospheric and Weather Effects 50

3.4 Small-Scale Propagation Effects 51

      3.4.1 Time Selectivity and Doppler Spread 52

      3.4.2 Frequency Selectivity and Delay Spread 54

      3.4.3 Spatial Selectivity and Angular Spread 56

      3.4.4 Envelope and Power Distributions 58

3.5 Waveform Design 60

      3.5.1 Waveform Basics 60

      3.5.2 Orthogonal Frequency Division Multiplexing 62

      3.5.3 Direct Sequence Spread Spectrum 64

      3.5.4 Continuous Phase Modulation 65

3.6 Chapter Summary 67

4 Performance Analysis and Tradeoffs 68

4.1 UAV Network Modeling: Challenges and Tools 68

4.2 Downlink Performance Analysis for UAV BS 70

      4.2.1 System Model 70

      4.2.2 Network with a Static UAV 73

      4.2.3 Mobile UAV BS Scenario 79

      4.2.4 Representative Simulation Results 83

4.3 Chapter Summary 89

5 Deployment of UAVs for Wireless Communications 90

5.1 Analytical Tools for UAV Deployment 91

      5.1.1 Centralized Optimization Theory 91

5.2 Deployment of UAV BSs for Optimized Coverage 94

      5.2.1 Deployment Model 94

      5.2.2 Deployment Analysis 96

      5.2.3 Representative Simulation Results 99

      5.2.4 Summary 100

5.3 Deployment of UAV BSs for Energy-Efficient Uplink Data Collection 100

      5.3.1 System Model and Problem Formulation 101

      5.3.2 Ground-to-Air Channel Model 102

      5.3.3 Activation Model of IoT devices 102

      5.3.4 UAV BS Placement and Device Association with Power Control 103

      5.3.5 Update Time Analysis 106

      5.3.6 Representative Simulation Results 107

      5.3.7 Summary 111

5.4 Proactive Deployment with Caching 112

      5.4.1 Model 112

      5.4.2 Optimal Deployment and Content Caching for UAV BSs 116

      5.4.3 Representative Simulation Results 118

      5.4.4 Summary 122

5.5 Chapter Summary 122

6 Wireless-Aware Path Planning for UAV Networks 123

6.1 Need for Wireless-Aware Path Planning 123

6.2 Wireless-Aware Path Planning for UAV UEs: Model and Problem Formulation 124

      6.2.1 Problem Formulation 126

6.3 Self-Organizing Wireless-Aware Path Planning for UAV UEs 128

      6.3.1 Path Planning as a Game 128

      6.3.2 Equilibrium of the UAV UE Path Planning Game 130

6.4 Deep Reinforcement Learning for Online Path Planning and Resource Management 131

      6.4.1 Deep ESN Architecture 131

      6.4.2 Deep ESN-Based UAV UE Update Rule 133

      6.4.3 Deep RL for Wireless-Aware Path Planning 134

6.5 Representative Simulation Results 136

6.6 Chapter Summary 144

7 Resource Management for UAV Networks 145

7.1 Cell Association in UAV-Assisted Wireless Networks under Hover Times Constraints 145

      7.1.1 System Model 146

      7.1.2 Optimal and Fair Cell Partitioning for Data Service Maximization under Hover Time Constraints 149

      7.1.3 Extensive Simulations and Numerical Results 153

      7.1.4 Summary 158

7.2 Resource Planning and Cell Association for 3D Wireless Cellular Networks 159

      7.2.1 A Rigorous Model for 3D Cellular Networks 159

      7.2.2 3D Deployment of a Cellular Network with UAV BSs: A Truncated Octahedron Structure 161

      7.2.3 Latency-Minimal 3D Cell Association 164

      7.2.4 Representative Simulation Results 166

      7.2.5 Summary 168

7.3 Managing Licensed and Unlicensed Spectrum Resources in Wireless Networks with UAVs 169

      7.3.1 Model of an LTE-U UAV BS Network 170

      7.3.2 Models for Data Rates and Queuing 172

      7.3.3 Resource Management Problem Formulation and Solution 174

      7.3.4 Representative Simulation Results 176

      7.3.5 Summary 179

7.4 Chapter Summary 180

8 Cooperative Communications in UAV Networks 181

8.1 CoMP Transmission in Wireless Systems with Cellular-Connected UAV UEs 183

      8.1.1 A Model for CoMP in Networks with Aerial UAV UEs 183

      8.1.2 Probabilistic Caching Placement and Serving Distance Distributions 183

      8.1.3 Channel Model 185

      8.1.4 Analysis of Coverage Probability 186

      8.1.5 Representative Simulation Results 189

      8.1.6 Summary 191

8.2 Reconfigurable Antenna Arrays of UAVs: UAV BS Scenario 192

      8.2.1 UAV-Based Antenna Array in the Sky: A Basic Model 193

      8.2.2 Transmission Time Minimization: Optimizing UAV Positions within the Array 195

      8.2.3 Control Time Minimization: Time-Optimal Control of UAVs 199

      8.2.4 Representative Simulation Results 202

      8.2.5 Summary 204

8.3 Chapter Summary 205

9 From LTE to 5G NR-Enabled UAV Networks 207

9.1 Mobile Technologies-Enabled UAVs 208

      9.1.1 Connectivity Aspects 208

      9.1.2 Services beyond Connectivity 209

9.2 Introduction to LTE 210

      9.2.1 Design Principles 211

      9.2.2 System Architecture 212

      9.2.3 Radio Interface Protocols 213

      9.2.4 Physical Layer Time-Frequency Structure 215

9.3 UAV as LTE UE 216

      9.3.1 Coverage 216

      9.3.2 Interference 217

      9.3.3 Mobility Support 220

      9.3.4 Latency and Reliability 223

9.4 UAV as LTE BS 226

9.5 3GPP Standardization on Connected UAV 227

      9.5.1 3GPP Release-15 Study Item on LTE-Connected UAV 228

      9.5.2 3GPP Release-15 Work Item on LTE-Connected UAV 231

      9.5.3 3GPP Release-16 Study Item on Remote UAV Identification 232

9.6 Towards 5G NR-Enabled UAVs 234

      9.6.1 A Primer on 5G NR 234

      9.6.2 Superior Connectivity Performance 236

      9.6.3 Service Differentiation with Network Slicing 237

      9.6.4 Network Intelligence 238

9.7 Chapter Summary 238

10 Security of UAV Networks 240

10.1 Overview on UAV Security Problems 240

10.2 Security of UAV UEs in Delivery Systems 243

      10.2.1 Modeling the Security of a UAV Delivery System 244

      10.2.2 UAV Security as a Network Interdiction Game 246

      10.2.3 Security of UAV Delivery Systems in Presence of Human Decision Makers 250

      10.2.4 Representative Simulation Results 253

      10.2.5 Summary 256

10.3 Concluding Remarks on UAV Security 257

References 258

Index 279

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