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Abstract-Effective emergency and natural disaster management depend on the efficient mission-critical voice and data communication between first responders and victims. Land Mobile Radio System (LMRS) is a legacy narrowband technology used for critical voice communications with limited use for data applications. Recently Long Term Evolution (LTE) emerged as a broadband communication technology that has a potential to transform the capabilities of public safety technologies by providing broadband, ubiquitous, and mission-critical voice and data support. For example, in the United States, FirstNet is building a nationwide coast-to-coast public safety network based of LTE broadband technology. This paper presents a comparative survey of legacy and the LTE-based public safety networks, and discusses the LMRS-LTE convergence as well as mission-critical push-to-talk over LTE. A simulation study of LMRS and LTE band class 14 technologies is provided using the NS-3 open source tool. An experimental study of APCO-25 and LTE band class 14 is also conducted using software-defined radio, to enhance the understanding of the public safety systems. Finally, emerging technologies that may have strong potential for use in public safety networks are reviewed.Index Terms-APCO-25, FirstNet, heterogeneous networks, LMRS-LTE convergence, mission-critical push-to-talk, P-25, public safety communications, software-defined radio (SDR), TETRA, unmanned aerial vehicle (UAV), 3GPP, 5G.

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Localization of a radio frequency (RF) transmitter with intermittent transmissions is considered via a group of unmanned aerial vehicles (UAVs) equipped with omnidirectional received signal strength (RSS) sensors. This group embarks on an autonomous patrol to localize and track the target with a specified accuracy, as quickly as possible. The challenge can be decomposed into two stages: 1) estimation of the target position given previous measurements (localization), and 2) planning the future trajectory of the tracking UAVs to get lower expected localization error given current estimation (path planning). For each stage we compare two algorithms in terms of performance and computational load. For the localization stage, we compare a detection based extended Kalman filter (EKF) and a recursive Bayesian estimator. For the path planning stage, we compare steepest descent posterior Cramer-Rao lower bound (CRLB) path planning and a bio-inspired heuristic path planning. Our results show that the steepest descent path planning outperforms the bioinspired path planning by an order of magnitude, and recursive Bayesian estimator narrowly outperforms detection based EKF.

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