In Unmanned Aerial Vehicle (UAV) networks, mobility of the UAV and the corresponding network dynamics cause frequent network adaptation. One key challenge caused by this in Flying Ad-hoc Network (FANET) is how to maintain the link stability such that both the packet loss rate and network latency can be reduced. Clustering of UAVs could effectively improve the performance of large-scale UAV swarm. However, the use of conventional clustering schemes in dynamic and high mobility FANET will lead to more link outages. Besides, frequent updates of cluster structure would cause the instability of network topology and the increase of control overhead and latency. To solve this problem, we propose a locationbased k-means UAV clustering algorithms by incorporating the mobility and relative location of the UAVs to enhance the performance and reliability of the UAV network with limited resource. The objective of the proposed Mobility and Location-aware Stable Clustering (MLSC) mechanism is to enhance the stability and accuracy of the network by reducing unnecessary overheads and network latency through incorporating several design factors with minimum resource constraints. Furthermore, we derive the relationship between the maximum coverage probability of Cluster Head (CH) and cluster size to find the optimal cluster size to minimize the network overhead. Our simulation results show that the proposed MLSC scheme significantly reduces the network overheads, and also improves packet delivery ratio and network latency as compared to the conventional clustering methods. INDEX TERMS Unmanned aerial vehicles (UAVs), coverage probability, stable clustering, k-means clustering.

Detection of multiple lane markings on road surfaces is an important aspect of autonomous vehicles. Although a number of approaches have been proposed to detect lanes, detecting multiple lane markings, particularly across a large number of frames and under varying lighting conditions, in a consistent manner is still a challenging problem. In this paper, we propose a novel approach for detecting multiple lanes across a large number of frames and under various lighting conditions. Instead of resorting to the conventional approach of processing each frame to detect lanes, we treat the overall problem as a multitarget tracking problem across space and time using the integrated probabilistic data association filter (IPDAF) as our basis filter. We use the intensity of the pixels as an augmented feature to correctly group multiple lane markings using the Hough transform. By representing these extracted lane markings as splines, we then identify a set of control points, which becomes a set of targets to be tracked over a period of time, and thus across a large number of frames. We evaluate our approach on two different fronts, covering both model- and machine-learning-based approaches, using two different datasets, namely the Caltech and TuSimple lane detection datasets, respectively. When tested against model-based approach, the proposed approach can offer as much as 5%, 12%, and 3% improvements on the true positive, false positive, and false positives per frame rates compared to the best alternative approach, respectively. When compared against a state-of-the-art machine learning technique, particularly against a supervised learning method, the proposed approach offers 57%, 31%, 4%, and 9× improvements on the false positive, false negative, accuracy, and frame rates. Furthemore, the proposed approach retains the explainability, or in other words, the cause of actions of the proposed approach can easily be understood or explained.

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