Robust Trajectory and Communication Design for Angle-Constrained Multi-UAV Communications in the Presence of Jammers

This paper studies a multi-unmanned aerial vehicle(UAV)enabled wireless communication system,where multiple UAVs are employed to communicate with a group of ground terminals(GTs)in the presence of potential jammers.We aim to maximize the throughput overall GTs by jointly optimizing the UAVs’trajectory,the GTs’scheduling and power allocation.Unlike most prior studies,we consider the UAVs’turning and climbing angle constraints,the UAVs’three-dimensional(3D)trajectory constraints,minimum UAV-to-UAV(U2U)distance constraint,and the GTs’transmit power requirements.However,the formulated problem is a mixed-integer non-convex problem and is intractable to work it out with conventional optimization methods.To tackle this difficulty,we propose an efficient robust iterative algorithm to decompose the original problem be three sub-problems and acquire the suboptimal solution via utilizing the block coordinate descent(BCD)method,successive convex approximation(SCA)technique,and S-procedure.Extensive simulation results show that our proposed robust iterative algorithm offers a substantial gain in the system performance compared with the benchmark algorithms.

Covert Communication in Integrated High Altitude Platform Station Terrestrial Networks

In recent years,Internet of Things(IoT)technology has emerged and gradually sprung up.As the needs of largescale IoT applications cannot be satisfied by the fifth generation(5G)network,wireless communication network needs to be developed into the sixth generation(6G)network.However,with the increasingly prominent security problems of wireless communication networks such as 6G,covert communication has been recognized as one of the most promising solutions.Covert communication can realize the transmission of hidden information between both sides of communication to a certain extent,which makes the transmission content and transmission behavior challenging to be detected by noncooperative eavesdroppers.In addition,the integrated high altitude platform station(HAPS)terrestrial network is considered a promising development direction because of its flexibility and scalability.Based on the above facts,this article investigates the covert communication in an integrated HAPS terrestrial network,where a constant power auxiliary node is utilized to send artificial noise(AN)to realize the covert communication.Specifically,the covert constraint relationship between the transmitting and auxiliary nodes is derived.Moreover,the closed-form expressions of outage probability(OP)and effective covert communication rate are obtained.Finally,numerical results are provided to verify our analysis and reveal the impacts of critical parameters on the system performance.

Distributed Flocking Algorithm for Multi-UAV System Based on Behavior Method and Topological Communication

There are many interesting flocking phenomena in nature,such as joint predation and group migration,and the intrinsic communication patterns of flocking are essential for studying group behavior.Traditional models of communication such as the pigeon flock model and the wolf pack model define all agents within a perceptual distance as the neighborhoods,and some models have fixed communicating numbers.There is a significant impact on the quality of the flocking formation when encountering poor initial state of the flocking,multiple obstacles,or loss of certain agents.To solve this problem,this paper proposes a local communication model with nearest agents in four directions.Based on this model and behavioral method,two distributed flocking formation algorithms are designed in this paper for different scenarios,namely the flocking algorithm and the circular formation algorithm.Numerical simulation results show that the flocking can pass through the obstacle area and re-formation smoothly,and also the formation quality of the flocking is better compared with the traditional communication model.

Development and Validation of an Instrument for Assessing Perceived Competences in Didactic Activity

In the context of teacher competences’association with student performance,assessment of didactic competences is an important concern for educational professionals.The current study aims to develop and validate a tool for assessing perceived competences in didactic activity for a group of Romanian teachers.The study examined 160 teachers from 15 schools in Bucharest,Romania,aged 20-60 years old.In the process of development and validation of the instrument(Assessment of perceived competences in didactic activity),the recommended steps were followed.Exploratory factorial analysis indicated the existence of three factors:effective communication of the teacher,development of students’critical thinking,and use of auxiliary resources.Reliability analysis showed high reliability coefficients,indicating good psychometric qualities of the scale.The correlations between the three factors were high,so the scale has acceptable convergent validity.Confirmatory factor analysis showed that the three factor model has indicators of good fit,also indicating good psychometric properties.The main practical implication is that the proposed instrument can be successfully used in identifying development needs of teachers resulting from the evaluation process.Based on the results derived from self-assessment of teaching competencies,customized professional development programs can be created for each teacher,aiming at developing skills and,implicitly,improving performance at the workplace.