Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Optimal Relay Network for Aerial Remote Inspections

Version 1 : Received: 30 November 2021 / Approved: 2 December 2021 / Online: 2 December 2021 (12:49:03 CET)

A peer-reviewed article of this Preprint also exists.

Pinto, L.R.; Almeida, L. Optimal Relay Network for Aerial Remote Inspections. Sensors 2022, 22, 1391. Pinto, L.R.; Almeida, L. Optimal Relay Network for Aerial Remote Inspections. Sensors 2022, 22, 1391.


Unmanned Aerial Vehicles (UAVs) in particular multirotors are becoming the {\it de facto} tool for aerial sensing and remote inspection. In large industrial facilities, a UAV can transmit an online video stream to inspect difficult to access structures, such chimneys, deposits and towers. However, the communication range is limited, constraining the UAV operation range. This limitation can be overcome with relaying UAVs placed between the source UAV and the control station, creating a line of communication links. In this work we assume the use of a digital data packet network technology, namely WiFi, and tackle the problem of defining the exact placement for the relaying UAVs that creates an end-to-end channel with maximal delivery of data packets. We consider asymmetric communication links and we show an increase as large as $15$\% in end-to-end packet delivery ratio when compared to an equidistant placement. We also discuss the deployment of such a network and propose a fully distributed method that converges to the global optimal relay positions taking, on average, 1.4 the time taken by a centralized method.


Multi-hop network; , packet delivery ratio; relay network; TDMA; throughput; UAV; wireless networks


Engineering, Electrical and Electronic Engineering

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