UAV-based Networked Airborne Computing Simulator and Testbed Design and Implementation
UAV-based Networked Airborne Computing Simulator and Testbed Design and Implementation
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DOI：
10.1109/icuas57906.2023.10156100
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发表时间：
2023-06
期刊：
影响因子：
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通讯作者：
Baoqian Wang;Junfei Xie;Ke Ma;Yan Wan
中科院分区：
文献类型：
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作者：
Baoqian Wang;Junfei Xie;Ke Ma;Yan Wan
近年来，车载计算能力与无人机(UAV)的集成作为移动计算范式的一部分，如移动边缘计算(MEC)、雾计算和移动云计算，受到了极大的关注。为了提高机载计算的性能，网络化机载计算(NAC)旨在通过直接的飞行到飞行链路将无人机互联，无人机之间共享资源。然而，尽管人们对NAC和基于无人机的计算越来越感兴趣，但现有的研究在很大程度上依赖于数值模拟来进行性能评估，并且缺乏现实的模拟器和硬件试验台。为了填补这一空白，本文开发了两个NAC平台：基于ROS和Gazebo的逼真模拟器和具有多个无人机通信和共享计算资源的硬件试验台。通过两个计算应用程序的仿真和真实飞行测试，我们评估了平台，并考察了移动性对NAC性能的影响。我们的发现为了解NAC提供了有价值的见解，并为未来的发展提供了指导。
The integration of onboard computing capabilities with unmanned aerial vehicles (UAV) has gained significant attention in recent years as part of mobile computing paradigms such as mobile edge computing (MEC), fog computing, and mobile cloud computing. To enhance the performance of airborne computing, networked airborne computing (NAC) aims to interconnect UAVs through direct flight-to-flight links, with UAVs sharing resources with each other. However, despite the growing interest in NAC and UAV-based computing, existing studies rely heavily on numerical simulations for performance evaluation and lack realistic simulators and hardware testbeds. To fill this gap, this paper presents the development of two NAC platforms: a realistic simulator based on ROS and Gazebo, and a hardware testbed with multiple UAVs communicating and sharing computing resources. Through simulation and real flight tests with two computation applications, we evaluate the platforms and examine the impact of mobility on NAC performance. Our findings offer valuable insights into NAC and provide guidance for future advancements.