Aluno: Antonio Arlis Santos da Silva
Orientador: Prof. Dr. Flávio Rech Wagner
Coorientador: Prof. Dr. Edison Pignaton de Freitas
Título: A joint approach to ensuring the stationary location and persistent UAV network service
Linha de Pesquisa: Sistemas Embarcados
Esta banca ocorrerá excepcionalmente de forma totalmente remota. Interessados em assistir a defesa poderão acessar a sala virtual através do link: https://meet.google.com/smj-jmoy-mkv
– Prof. Dr. Eduardo Coelho Cerqueira (UFPA)
– Prof. Dr. Weverton Luis da Costa Cordeiro (UFRGS)
– Prof. Dr. Leandro Buss Becker (UFSC)
Presidente da Banca: Prof. Dr. Flávio Rech Wagner
Abstract: Unmanned Aerial Vehicles (UAVs) are being used in monitoring, transportation, security and disaster management, and other domains. The applications executed in the different missions involve multiple robotic systems connected through a wireless network to perform tasks that are – usually – autonomous. With more software applications being executed on UAVs, existing solutions for stationary location coordination and UAVs’ network management fail to provide efficient results due to computational resource limitations. To cover this gap, this thesis presents a joint approach for autonomous coordination and intelligent management of a UAV network. Algorithmic Game Theory (AGT) and Software Defined Network (SDN) techniques are used. Compared to previous work, the approach presented here is different in two aspects: (i) A distributed system with a joint solution to the problems of the stationary location of multiple UAVs and a desired coverage rate; and (ii) A strategy to encourage agent cooperation with a rigorous analysis of network quality data within certain performance bounds. The proposal was evaluated by means of simulation using OMNeT++, Robot Operating System (ROS), and Gazebo. The approach was evaluated in terms of efficiency for area coverage and data flow in the network. Its behavior was analyzed in managing the UAV network in comparison to the Ad-hoc On-Demand Distance Vector (AODV) protocol, considering the post-disaster scenario. The evaluation provides evidence of considerable performance gains when compared to the main related works, mainly in area coverage rate and in service to network users over the operation period.
Keywords: Unmanned Aerial Vehicle (UAV). Autonomous UAV. Algorithmic Game Theory (AGT). Software Defined Network (SDN).