Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks
Journal:
arXiv
Published Date:
Apr 21, 2025
Abstract
A new class of Multi-Rotor Aerial Vehicles (MRAVs), known as omnidirectional
MRAVs (o-MRAVs), has gained attention for their ability to independently
control 3D position and orientation. This capability enhances robust planning
and control in aerial communication networks, enabling more adaptive trajectory
planning and precise antenna alignment without additional mechanical
components. These features are particularly valuable in uncertain environments,
where disturbances such as wind and interference affect communication
stability. This paper examines o-MRAVs in the context of robust aerial network
planning, comparing them with the more common under-actuated MRAVs (u-MRAVs).
Key applications, including physical layer security, optical communications,
and network densification, are highlighted, demonstrating the potential of
o-MRAVs to improve reliability and efficiency in dynamic communication
scenarios.
