WirelessCommunicationsandNetworkingforUnmannedAerialVehicles AthoroughtreatmentofUAVwirelesscommunicationsandnetworkingresearchchal- lenges and opportunities. Detailed, step-by-step development of carefully selected research problems that pertain to UAV network performance analysis and optimiza- tion,physicallayerdesign,trajectoryandpathplanning,resourcemanagement,multiple access,cooperativecommunications,standardization,control,andsecurityisprovided. Featuringdiscussionofpracticalapplicationsincludingdronedeliverysystems,public safety,IoT,virtualreality,andsmartcities,thisisanessentialtoolforresearchers,stu- dents, and engineers interested in broadening their knowledge of the deployment and operationofcommunicationsystemsthatintegrateorrelyonunmannedaerialvehicles. WalidSaadisaprofessorofElectricalandComputerEngineeringatVirginiaTechand anIEEEFellow. MehdiBennisisanassociateprofessorattheUniversityofOulu,Finland. MohammadMozaffariisanexperiencedresearcheratEricsson,USA. XingqinLinisaseniorresearcheratEricsson,USA. “Thisbook,writtenbythemostprominentexpertsinthefield,providesacompletein- depthanalysisofUAVwirelesscommunications.Itshouldbecomeareferencematerial for all the students, engineers, and researchers who are building our next-generation wirelesscommunicationnetworks.” MerouaneDebbah,CentraleSupélec “Thisisthemostcomprehensivebookontherapidlyevolvingfieldofwirelesscommu- nications and networking for UAVs. The authors are among the researchers who have madethemostprofoundcontributionstothisemergingfield.Theirimpressivecommand ofthesubjectmatterresultsinathoroughpresentationtakingtheory,practice,andindus- trialstandardsintoaccount.Amust-readforresearchersandengineersworkinginthis field.” HalimYanikomeroglu,CarletonUniversity Wireless Communications and Networking for Unmanned Aerial Vehicles WALID SAAD VirginiaPolytechnicInstituteandStateUniversity MEHDI BENNIS UniversityofOulu,Finland MOHAMMAD MOZAFFARI EricssonResearchSiliconValley XINGQIN LIN EricssonResearchSiliconValley UniversityPrintingHouse,CambridgeCB28BS,UnitedKingdom OneLibertyPlaza,20thFloor,NewYork,NY10006,USA 477WilliamstownRoad,PortMelbourne,VIC3207,Australia 314–321,3rdFloor,Plot3,SplendorForum,JasolaDistrictCentre,NewDelhi–110025,India 79AnsonRoad,#06–04/06,Singapore079906 CambridgeUniversityPressispartoftheUniversityofCambridge. ItfurtherstheUniversity’smissionbydisseminatingknowledgeinthepursuitof education,learning,andresearchatthehighestinternationallevelsofexcellence. www.cambridge.org Informationonthistitle:www.cambridge.org/9781108480741 DOI:10.1017/9781108691017 (cid:2)c CambridgeUniversityPress2020 Thispublicationisincopyright.Subjecttostatutoryexception andtotheprovisionsofrelevantcollectivelicensingagreements, noreproductionofanypartmaytakeplacewithoutthewritten permissionofCambridgeUniversityPress. Firstpublished2020 PrintedintheUnitedKingdombyTJInternationalLtd,PadstowCornwall AcataloguerecordforthispublicationisavailablefromtheBritishLibrary. LibraryofCongressCataloging-in-PublicationData Names:Saad,Walid,author.|Bennis,Mehdi,author.|Mozaffari,Mohammad, 1989–author.|Lin,Xingqin,1987–author. Title:Wirelesscommunicationsandnetworkingforunmannedaerialvehicles/ WalidSaad,MehdiBennis,MohammadMozaffari,andXingqinLin. Description:Firstedition.|NewYork:CambridgeUniversityPress,2020. |Includesbibliographicalreferencesandindex. Identifiers:LCCN2019043875(print)|LCCN2019043876(ebook) |ISBN9781108480741(hardback)|ISBN9781108691017(ebook) Subjects:LCSH:Droneaircraft–Controlsystems.|Droneaircraft–Computer networks.|Wirelesscommunicationsystems. Classification:LCCTL685.35.S2332020(print)|LCCTL685.35(ebook) |DDC629.135–dc23 LCrecordavailableathttps://lccn.loc.gov/2019043875 LCebookrecordavailableathttps://lccn.loc.gov/2019043876 ISBN978-1-108-48074-1Hardback CambridgeUniversityPresshasnoresponsibilityforthepersistenceoraccuracyof URLsforexternalorthird-partyinternetwebsitesreferredtointhispublication anddoesnotguaranteethatanycontentonsuchwebsitesis,orwillremain, accurateorappropriate. WalidSaad: ToMary,Karim,Raphael,andeveryonewhobelievestheskyisnotthelimit MehdiBennis: Tomybelovedfamily MohammadMozaffari: Tomyfamily XingqinLin: Thisbookisdedicatedtomygrandfatherandfather,ZuojiaoLinandYuluanLin, withlove Contents Acknowledgments pagexii 1 Wireless Communications and Networking with Unmanned Aerial Vehicles:AnIntroduction 1 1.1 BriefEvolutionofUAVTechnology 1 1.2 UAVTypesandRegulations 2 1.2.1 ClassificationofUAVs 3 1.2.2 UAVRegulations 4 1.3 WirelessCommunicationsandNetworkingwithUAVs 5 1.3.1 UAVsasFlyingWirelessBaseStations 6 1.3.2 UAVsasWirelessNetworkUserEquipment 8 1.3.3 UAVsasRelays 9 1.4 SummaryandBookOverview 10 2 UAVApplicationsandUseCases 12 2.1 UAVsforPublicSafetyScenarios 12 2.2 UAV-AssistedGroundWirelessNetworksforInformation Dissemination 13 2.3 Three-Dimensional MIMO and Millimeter-Wave Communication withUAVs 14 2.4 DronesinInternetofThingsSystems 16 2.5 UAVsforVirtualRealityApplications 16 2.6 DronesinWirelessBackhaulingforGroundNetworks 18 2.7 Cellular-ConnectedUAVUEs 19 2.8 UAVsinaSmartCity 20 2.9 ChapterSummary 21 3 AerialChannelModelingandWaveformDesign 22 3.1 FundamentalsofRadioWavePropagationandModeling 23 3.2 OverviewofAerialWirelessChannelCharacteristics 27 3.3 Large-ScalePropagationChannelEffects 30 3.3.1 Free-SpacePathLoss 30 3.3.2 RayTracing 31 3.3.3 Log-DistancePathLossModels 37 3.3.4 EmpiricalPathLossModels 40 viii Contents 3.3.5 Shadowing 42 3.3.6 Line-of-SightProbability 44 3.3.7 AtmosphericandWeatherEffects 50 3.4 Small-ScalePropagationEffects 51 3.4.1 TimeSelectivityandDopplerSpread 52 3.4.2 FrequencySelectivityandDelaySpread 54 3.4.3 SpatialSelectivityandAngularSpread 56 3.4.4 EnvelopeandPowerDistributions 58 3.5 WaveformDesign 60 3.5.1 WaveformBasics 60 3.5.2 OrthogonalFrequencyDivisionMultiplexing 62 3.5.3 DirectSequenceSpreadSpectrum 64 3.5.4 ContinuousPhaseModulation 65 3.6 ChapterSummary 67 4 PerformanceAnalysisandTradeoffs 68 4.1 UAVNetworkModeling:ChallengesandTools 68 4.2 DownlinkPerformanceAnalysisforUAVBS 70 4.2.1 SystemModel 70 4.2.2 NetworkwithaStaticUAV 73 4.2.3 MobileUAVBSScenario 79 4.2.4 RepresentativeSimulationResults 83 4.3 ChapterSummary 89 5 DeploymentofUAVsforWirelessCommunications 90 5.1 AnalyticalToolsforUAVDeployment 91 5.1.1 CentralizedOptimizationTheory 91 5.2 DeploymentofUAVBSsforOptimizedCoverage 94 5.2.1 DeploymentModel 94 5.2.2 DeploymentAnalysis 96 5.2.3 RepresentativeSimulationResults 99 5.2.4 Summary 100 5.3 DeploymentofUAVBSsforEnergy-EfficientUplinkDataCollection 100 5.3.1 SystemModelandProblemFormulation 101 5.3.2 Ground-to-AirChannelModel 102 5.3.3 ActivationModelofIoTdevices 102 5.3.4 UAVBSPlacementandDeviceAssociationwithPowerControl 103 5.3.5 UpdateTimeAnalysis 106 5.3.6 RepresentativeSimulationResults 107 5.3.7 Summary 111 5.4 ProactiveDeploymentwithCaching 112 5.4.1 Model 112 5.4.2 OptimalDeploymentandContentCachingforUAVBSs 116 Contents ix 5.4.3 RepresentativeSimulationResults 118 5.4.4 Summary 122 5.5 ChapterSummary 122 6 Wireless-AwarePathPlanningforUAVNetworks 123 6.1 NeedforWireless-AwarePathPlanning 123 6.2 Wireless-Aware Path Planning for UAV UEs: Model and Problem Formulation 124 6.2.1 ProblemFormulation 126 6.3 Self-OrganizingWireless-AwarePathPlanningforUAVUEs 128 6.3.1 PathPlanningasaGame 128 6.3.2 EquilibriumoftheUAVUEPathPlanningGame 130 6.4 DeepReinforcementLearningforOnlinePathPlanningandResource Management 131 6.4.1 DeepESNArchitecture 131 6.4.2 DeepESN-BasedUAVUEUpdateRule 133 6.4.3 DeepRLforWireless-AwarePathPlanning 134 6.5 RepresentativeSimulationResults 136 6.6 ChapterSummary 144 7 ResourceManagementforUAVNetworks 145 7.1 Cell Association in UAV-Assisted Wireless Networks under Hover TimesConstraints 145 7.1.1 SystemModel 146 7.1.2 OptimalandFairCellPartitioningforDataServiceMaximization underHoverTimeConstraints 149 7.1.3 ExtensiveSimulationsandNumericalResults 153 7.1.4 Summary 158 7.2 Resource Planning and Cell Association for 3D Wireless Cellular Networks 159 7.2.1 ARigorousModelfor3DCellularNetworks 159 7.2.2 3D Deployment of a Cellular Network with UAV BSs: ATruncatedOctahedronStructure 161 7.2.3 Latency-Minimal3DCellAssociation 164 7.2.4 RepresentativeSimulationResults 166 7.2.5 Summary 168 7.3 ManagingLicensedandUnlicensedSpectrumResourcesinWireless NetworkswithUAVs 169 7.3.1 ModelofanLTE-UUAVBSNetwork 170 7.3.2 ModelsforDataRatesandQueuing 172 7.3.3 ResourceManagementProblemFormulationandSolution 174 7.3.4 RepresentativeSimulationResults 176 7.3.5 Summary 179 7.4 ChapterSummary 180