论文标题
部分可观测时空混沌系统的无模型预测
Multi-UAV Collaborative Sensing and Communication: Joint Task Allocation and Power Optimization
论文作者
论文摘要
储层计算是预测湍流的有力工具，其简单的架构具有处理大型系统的计算效率。然而，其实现通常需要完整的状态向量测量和系统非线性知识。我们使用非线性投影函数将系统测量扩展到高维空间，然后将其输入到储层中以获得预测。我们展示了这种储层计算网络在时空混沌系统上的应用，该系统模拟了湍流的若干特征。我们表明，使用径向基函数作为非线性投影器，即使只有部分观测并且不知道控制方程，也能稳健地捕捉复杂的系统非线性。最后，我们表明，当测量稀疏、不完整且带有噪声，甚至控制方程变得不准确时，我们的网络仍然可以产生相当准确的预测，从而为实际湍流系统的无模型预测铺平了道路。
Compared to a single UAV with limited sensing coverage and communication capability, multi-UAV cooperation is able to provide more effective sensing and transmission (S&T) services. Nevertheless, most existing works on multi-UAV sensing mainly focus on mutually exclusive task allocation and independent data transmission, which did not fully exploit the benefit of multi-UAV sensing and communication. Motivated by this, we propose a novel multi-UAV cooperative S&T scheme with replicated sensing task allocation. Although replicated task allocation may sound counter-intuitive, it can actually foster cooperative transmission among multiple UAVs and thus reduce the overall sensing mission completion time. To obtain the optimal task allocation and transmit power of the proposed scheme, a mission completion time minimization problem is formulated. To solve this problem, a necessary condition for replicated sensing task allocation is derived. For the cases of replicated sensing, the considered problem is transformed into a monotonic optimization and is solved by the generic Polyblock algorithm. To efficiently evaluate the mission completion time in each iteration of the Polyblock algorithm, new auxiliary variables are introduced to decouple the otherwise sophisticated joint optimization of transmission time and power. While for the degenerated case of non-replicated sensing, the closed-form expression of the optimal transmission time is derived
