A motion strategy plays an important role in supporting autonomous Unmanned Aerial Vehicle (UAV) movement. Many studies have been conducted to improve the motion frameworks in terms of its robustness, safety and performance. Most of them worked on the prior known maps scenario where the area information was collected by Global Positioning System (GPS) and satellite cameras. Even though the scheme can provide high quality map, the computation of motion planning remains dependent on the communication signal. In the rural areas such as forests and mountains, where communication signal does not perform well, unclear and noisy terrain maps can be generated and lead to mission failure. Therefore, it is significant that an alternative framework to enhance autonomous UAV motion performance in these certain conditions should be developed. Our work focuses on developing a high performance path planner for autonomous UAV motion when communication signal does not work well in rural areas. The search mission problem in forest terrain has been implemented in 3D simulation as an evaluation. By conducting a simulation process repeatedly with different test cases for positions, time constraints, flight speed (3-11 m/s) and flight range, our path planning framework can achieve completeness between 90-100% and better performance compared to others.INDEX TERMS Online path planning, motion planning, UAV, rural areas.
An unmanned aerial vehicle (UAV) is an autonomous flying robot that has attracted the interest of several communities because of its capacity to increase the safety and productivity of labor. In terms of software engineering, UAV system development is extremely difficult because the focus is not only on functional requirement fulfillment, but also on nonfunctional requirements such as security and safety, which play a crucial role in mission success. Consequently, architecture robustness is very important, and one of the most common architectures developed is based on a centralized pattern in which all UAVs are controlled from a central location. Even though this is a very important problem, many developers must expend a great deal of effort to adapt and improve security. This is because there are few practical perspectives of security development in the context of UAV system development; therefore, the study of attack and defense patterns in centralized architecture is required to fill this knowledge gap. This paper concentrates on enhancing the security aspect of UAV system development by examining attack and defense patterns in centralized architectures. We contribute to the field by identifying 26 attack variations, presenting corresponding countermeasures from a software analyst’s standpoint, and supplying a node.js code template for developers to strengthen their systems’ security. Our comprehensive analysis evaluates the proposed defense strategies in terms of time and space complexity, ensuring their effectiveness. By providing a focused and in-depth perspective on security patterns, our research offers crucial guidance for communities and developers working on UAV-based systems, facilitating the development of more secure and robust solutions.
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