Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks
Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti, Mounir Ghogho, and Martin Saska
TL;DR
This paper addresses robust planning and control for omnidirectional MRAVs (o-MRAVs) in aerial communications, emphasizing limitations of under-actuated MRAVs in maintaining precise beam alignment under disturbances. It argues that full actuation enables independent 3D pose control, improving antenna pointing and link reliability, particularly for mmWave/THz and FSO links. The authors compare o-MRAVs with u-MRAVs, and present a nonlinear model predictive control (NMPC) framework over a finite horizon $N$ for an aerial relay scenario, integrating robotic dynamics with communication constraints. They discuss practical challenges—energy efficiency, computational load, and multi-agent scalability—and outline future directions such as hybrid beamforming, learning-based adaptive control, and distributed coordination. The work demonstrates potential improvements in link stability, security, and network densification in dynamic and uncertain environments.
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.