HAILONG HUANG, PhD, is an Assistant Professor at The Hong Kong Polytechnic University, Hong Kong. He is also an Associate Editor for the International Journal of Advanced Robotic Systems. His research interests include multi-robot systems, coverage control; system modeling and simulation.ANDREY V. SAVKIN, PhD, is a Professor and Head of Systems and Control in the School of Electrical Engineering and Telecommunications at University of New South Wales, Sydney, Australia. He was a co-author of the Wiley title Decentralized Coverage Control Problems for Mobile Robotic Sensor and Actuator Networks (2015).CHAO HUANG, PhD, is a Research Assistant Professor at The Hong Kong Polytechnic University, Hong Kong. From July 2020 to May 2021, she acted as a Guest Editor for the Spectrum special issue on "Advanced Sensing and Control for Connected and Automated Vehicles".

• Author Biographies ixPreface xi1 Introduction 11.1 Applications of UAVs 11.2 Problems of Autonomous Navigation and Deployment of UAVs 21.3 Overview and Organization of the Book 41.4 Some Other Remarks 5References 62 Deployment of UAV Base Stations for Wireless Communication Coverage 112.1 Introduction 112.2 Related Work 142.3 UAV-BS Deployment for Maximizing Coverage 172.3.1 Problem Statement 172.3.2 Proposed Solution 192.3.3 Evaluation 212.4 UAV-BS Deployment for Maximizing Coverage and Minimizing Interference 242.4.1 System Model and Problem Statement 242.4.2 Proposed Solution 272.4.3 Simulation Results 312.4.3.1 Dataset and Simulation Set-Up 312.4.3.2 Comparing Approaches 322.4.3.3 Simulation Results 322.5 Voronoi Partitioning-Based UAV-BS Deployment 362.5.1 Problem Statement and Main Results 362.5.2 Simulation Results 412.6 Range-Based UAV-BS Deployment 432.6.1 Problem Statement and Main Results 432.6.2 Simulation Results 492.7 Summary 52References 523 Deployment of UAVs for Surveillance of Ground Areas and Targets 573.1 Introduction 573.2 Related Work 603.3 Asymptotically Optimal UAV Deployment for Surveillance of a Flat Ground Area 613.3.1 Problem Statement 613.3.2 Deployment Algorithm 633.3.3 Evaluation 673.4 UAV Deployment for Surveillance of Uneven Ground Areas 713.4.1 Problem Statement 713.4.2 Deployment Algorithm 733.4.3 Evaluation 783.5 2D UAV Deployment for Ground Target Surveillance 803.5.1 Problem Statement 803.5.2 Proposed Solution 823.5.3 Evaluation 853.6 3D UAV Deployment for Ground Target Surveillance 873.6.1 Problem Statement 873.6.2 Proposed Solution 893.6.3 Evaluation 953.7 Summary and Future Research 99References 1004 Autonomous Navigation of UAVs for Surveillance of Ground Areas and Targets 1054.1 Introduction 1054.2 RelatedWork 1084.3 Asymptotically Optimal Path Planning for Surveillance of Ground Areas 1104.3.1 Problem Statement 1104.3.2 Path Planning Algorithm 1114.3.3 Simulation Results 1144.4 Navigation of UAVs for Surveillance of a Moving Ground Area 1174.4.1 Problem Statement 1174.4.2 Navigation Law 1194.4.2.1 Available Measurements 1204.4.3 Simulation Results 1224.5 Navigation of UAVs for Surveillance of Moving Targets on a Road Segment 1254.5.1 Problem Statement 1254.5.2 Proposal Solution 1264.5.2.1 Monitoring Mode 1264.5.2.2 Initial Mode 1274.5.2.3 Searching Mode 1284.5.2.4 Accumulating Mode 1294.5.3 Simulation Results 1304.6 Navigation of UAVs for Surveillance of Moving Targets along a Road 1344.6.1 Problem Statement 1344.6.2 Navigation Algorithm 1374.6.3 Simulation Results 1394.7 Navigation of UAVs for Surveillance of Groups of Moving Ground Targets 1424.7.1 Problem Statement and Proposed Approach 1434.7.2 Navigation Method 1464.7.3 Simulation Results 1504.8 Summary and Future Research 153References 1545 Autonomous UAV Navigation for Covert Video Surveillance 1595.1 Introduction 1595.2 Related Work 1605.3 Optimization-Based Navigation 1625.3.1 System Model 1625.3.2 Problem Statement 1655.3.3 Predictive DP Based Trajectory Planning Algorithm 1665.3.3.1 Aeronautic Trajectory Refinement 1695.3.4 Evaluation 1745.4 Biologically Inspired Motion Camouflage-based Navigation 1815.4.1 Problem Statement 1825.4.1.1 Available Measurements 1825.4.2 Motion Camouflage Guidance Law 1835.4.3 Evaluation 1855.5 Summary and Future Work 188References 1896 Integration of UAVs and Public Transportation Vehicles for Parcel Delivery 1956.1 Introduction 1956.2 Related Work 1996.3 System Model 2036.4 One-way Path Planning 2046.4.1 Problem Statement 2046.4.2 Proposed Solution 2076.4.2.1 Path Traversal Time 2076.4.2.2 Reliable Path Construction 2106.4.2.3 Energy-aware Reliable Path 2136.4.3 Evaluation 2156.5 Round-trip Path Planning in a Deterministic Network 2186.5.1 Deterministic Model 2186.5.1.1 Extended Multimodal Network 2206.5.2 Problem Statement 2226.5.2.1 Shortest UAV Path Problem 2226.5.3 Proposed Solution 2236.5.3.1 The Dijkstra-based Algorithm 2236.5.3.2 Reliable UAV Path 2256.5.3.3 Extended Coverage 2286.5.4 Evaluation 2286.6 Round-trip Path Planning in a Stochastic Network 2326.6.1 Problem Statement 2336.6.2 Proposed Solution 2356.6.2.1 Proposed Algorithm 2356.6.2.2 Robust Round-trip Planning Algorithm 2406.6.3 Evaluation 2436.7 Summary and Future Work 246References 246Abbreviations 252Index 253

HAILONG HUANG, PhD, is an Assistant Professor at The Hong Kong Polytechnic University, Hong Kong. He is also an Associate Editor for the International Journal of Advanced Robotic Systems. His research interests include multi-robot systems, coverage control; system modeling and simulation.ANDREY V. SAVKIN, PhD, is a Professor and Head of Systems and Control in the School of Electrical Engineering and Telecommunications at University of New South Wales, Sydney, Australia. He was a co-author of the Wiley title Decentralized Coverage Control Problems for Mobile Robotic Sensor and Actuator Networks (2015).CHAO HUANG, PhD, is a Research Assistant Professor at The Hong Kong Polytechnic University, Hong Kong. From July 2020 to May 2021, she acted as a Guest Editor for the Spectrum special issue on "Advanced Sensing and Control for Connected and Automated Vehicles".

• Author Biographies ixPreface xi1 Introduction 11.1 Applications of UAVs 11.2 Problems of Autonomous Navigation and Deployment of UAVs 21.3 Overview and Organization of the Book 41.4 Some Other Remarks 5References 62 Deployment of UAV Base Stations for Wireless Communication Coverage 112.1 Introduction 112.2 Related Work 142.3 UAV-BS Deployment for Maximizing Coverage 172.3.1 Problem Statement 172.3.2 Proposed Solution 192.3.3 Evaluation 212.4 UAV-BS Deployment for Maximizing Coverage and Minimizing Interference 242.4.1 System Model and Problem Statement 242.4.2 Proposed Solution 272.4.3 Simulation Results 312.4.3.1 Dataset and Simulation Set-Up 312.4.3.2 Comparing Approaches 322.4.3.3 Simulation Results 322.5 Voronoi Partitioning-Based UAV-BS Deployment 362.5.1 Problem Statement and Main Results 362.5.2 Simulation Results 412.6 Range-Based UAV-BS Deployment 432.6.1 Problem Statement and Main Results 432.6.2 Simulation Results 492.7 Summary 52References 523 Deployment of UAVs for Surveillance of Ground Areas and Targets 573.1 Introduction 573.2 Related Work 603.3 Asymptotically Optimal UAV Deployment for Surveillance of a Flat Ground Area 613.3.1 Problem Statement 613.3.2 Deployment Algorithm 633.3.3 Evaluation 673.4 UAV Deployment for Surveillance of Uneven Ground Areas 713.4.1 Problem Statement 713.4.2 Deployment Algorithm 733.4.3 Evaluation 783.5 2D UAV Deployment for Ground Target Surveillance 803.5.1 Problem Statement 803.5.2 Proposed Solution 823.5.3 Evaluation 853.6 3D UAV Deployment for Ground Target Surveillance 873.6.1 Problem Statement 873.6.2 Proposed Solution 893.6.3 Evaluation 953.7 Summary and Future Research 99References 1004 Autonomous Navigation of UAVs for Surveillance of Ground Areas and Targets 1054.1 Introduction 1054.2 RelatedWork 1084.3 Asymptotically Optimal Path Planning for Surveillance of Ground Areas 1104.3.1 Problem Statement 1104.3.2 Path Planning Algorithm 1114.3.3 Simulation Results 1144.4 Navigation of UAVs for Surveillance of a Moving Ground Area 1174.4.1 Problem Statement 1174.4.2 Navigation Law 1194.4.2.1 Available Measurements 1204.4.3 Simulation Results 1224.5 Navigation of UAVs for Surveillance of Moving Targets on a Road Segment 1254.5.1 Problem Statement 1254.5.2 Proposal Solution 1264.5.2.1 Monitoring Mode 1264.5.2.2 Initial Mode 1274.5.2.3 Searching Mode 1284.5.2.4 Accumulating Mode 1294.5.3 Simulation Results 1304.6 Navigation of UAVs for Surveillance of Moving Targets along a Road 1344.6.1 Problem Statement 1344.6.2 Navigation Algorithm 1374.6.3 Simulation Results 1394.7 Navigation of UAVs for Surveillance of Groups of Moving Ground Targets 1424.7.1 Problem Statement and Proposed Approach 1434.7.2 Navigation Method 1464.7.3 Simulation Results 1504.8 Summary and Future Research 153References 1545 Autonomous UAV Navigation for Covert Video Surveillance 1595.1 Introduction 1595.2 Related Work 1605.3 Optimization-Based Navigation 1625.3.1 System Model 1625.3.2 Problem Statement 1655.3.3 Predictive DP Based Trajectory Planning Algorithm 1665.3.3.1 Aeronautic Trajectory Refinement 1695.3.4 Evaluation 1745.4 Biologically Inspired Motion Camouflage-based Navigation 1815.4.1 Problem Statement 1825.4.1.1 Available Measurements 1825.4.2 Motion Camouflage Guidance Law 1835.4.3 Evaluation 1855.5 Summary and Future Work 188References 1896 Integration of UAVs and Public Transportation Vehicles for Parcel Delivery 1956.1 Introduction 1956.2 Related Work 1996.3 System Model 2036.4 One-way Path Planning 2046.4.1 Problem Statement 2046.4.2 Proposed Solution 2076.4.2.1 Path Traversal Time 2076.4.2.2 Reliable Path Construction 2106.4.2.3 Energy-aware Reliable Path 2136.4.3 Evaluation 2156.5 Round-trip Path Planning in a Deterministic Network 2186.5.1 Deterministic Model 2186.5.1.1 Extended Multimodal Network 2206.5.2 Problem Statement 2226.5.2.1 Shortest UAV Path Problem 2226.5.3 Proposed Solution 2236.5.3.1 The Dijkstra-based Algorithm 2236.5.3.2 Reliable UAV Path 2256.5.3.3 Extended Coverage 2286.5.4 Evaluation 2286.6 Round-trip Path Planning in a Stochastic Network 2326.6.1 Problem Statement 2336.6.2 Proposed Solution 2356.6.2.1 Proposed Algorithm 2356.6.2.2 Robust Round-trip Planning Algorithm 2406.6.3 Evaluation 2436.7 Summary and Future Work 246References 246Abbreviations 252Index 253

HAILONG HUANG, PhD, is an Assistant Professor at The Hong Kong Polytechnic University, Hong Kong. He is also an Associate Editor for the International Journal of Advanced Robotic Systems. His research interests include multi-robot systems, coverage control; system modeling and simulation.ANDREY V. SAVKIN, PhD, is a Professor and Head of Systems and Control in the School of Electrical Engineering and Telecommunications at University of New South Wales, Sydney, Australia. He was a co-author of the Wiley title Decentralized Coverage Control Problems for Mobile Robotic Sensor and Actuator Networks (2015).CHAO HUANG, PhD, is a Research Assistant Professor at The Hong Kong Polytechnic University, Hong Kong. From July 2020 to May 2021, she acted as a Guest Editor for the Spectrum special issue on "Advanced Sensing and Control for Connected and Automated Vehicles".

• Author Biographies ixPreface xi1 Introduction 11.1 Applications of UAVs 11.2 Problems of Autonomous Navigation and Deployment of UAVs 21.3 Overview and Organization of the Book 41.4 Some Other Remarks 5References 62 Deployment of UAV Base Stations for Wireless Communication Coverage 112.1 Introduction 112.2 Related Work 142.3 UAV-BS Deployment for Maximizing Coverage 172.3.1 Problem Statement 172.3.2 Proposed Solution 192.3.3 Evaluation 212.4 UAV-BS Deployment for Maximizing Coverage and Minimizing Interference 242.4.1 System Model and Problem Statement 242.4.2 Proposed Solution 272.4.3 Simulation Results 312.4.3.1 Dataset and Simulation Set-Up 312.4.3.2 Comparing Approaches 322.4.3.3 Simulation Results 322.5 Voronoi Partitioning-Based UAV-BS Deployment 362.5.1 Problem Statement and Main Results 362.5.2 Simulation Results 412.6 Range-Based UAV-BS Deployment 432.6.1 Problem Statement and Main Results 432.6.2 Simulation Results 492.7 Summary 52References 523 Deployment of UAVs for Surveillance of Ground Areas and Targets 573.1 Introduction 573.2 Related Work 603.3 Asymptotically Optimal UAV Deployment for Surveillance of a Flat Ground Area 613.3.1 Problem Statement 613.3.2 Deployment Algorithm 633.3.3 Evaluation 673.4 UAV Deployment for Surveillance of Uneven Ground Areas 713.4.1 Problem Statement 713.4.2 Deployment Algorithm 733.4.3 Evaluation 783.5 2D UAV Deployment for Ground Target Surveillance 803.5.1 Problem Statement 803.5.2 Proposed Solution 823.5.3 Evaluation 853.6 3D UAV Deployment for Ground Target Surveillance 873.6.1 Problem Statement 873.6.2 Proposed Solution 893.6.3 Evaluation 953.7 Summary and Future Research 99References 1004 Autonomous Navigation of UAVs for Surveillance of Ground Areas and Targets 1054.1 Introduction 1054.2 RelatedWork 1084.3 Asymptotically Optimal Path Planning for Surveillance of Ground Areas 1104.3.1 Problem Statement 1104.3.2 Path Planning Algorithm 1114.3.3 Simulation Results 1144.4 Navigation of UAVs for Surveillance of a Moving Ground Area 1174.4.1 Problem Statement 1174.4.2 Navigation Law 1194.4.2.1 Available Measurements 1204.4.3 Simulation Results 1224.5 Navigation of UAVs for Surveillance of Moving Targets on a Road Segment 1254.5.1 Problem Statement 1254.5.2 Proposal Solution 1264.5.2.1 Monitoring Mode 1264.5.2.2 Initial Mode 1274.5.2.3 Searching Mode 1284.5.2.4 Accumulating Mode 1294.5.3 Simulation Results 1304.6 Navigation of UAVs for Surveillance of Moving Targets along a Road 1344.6.1 Problem Statement 1344.6.2 Navigation Algorithm 1374.6.3 Simulation Results 1394.7 Navigation of UAVs for Surveillance of Groups of Moving Ground Targets 1424.7.1 Problem Statement and Proposed Approach 1434.7.2 Navigation Method 1464.7.3 Simulation Results 1504.8 Summary and Future Research 153References 1545 Autonomous UAV Navigation for Covert Video Surveillance 1595.1 Introduction 1595.2 Related Work 1605.3 Optimization-Based Navigation 1625.3.1 System Model 1625.3.2 Problem Statement 1655.3.3 Predictive DP Based Trajectory Planning Algorithm 1665.3.3.1 Aeronautic Trajectory Refinement 1695.3.4 Evaluation 1745.4 Biologically Inspired Motion Camouflage-based Navigation 1815.4.1 Problem Statement 1825.4.1.1 Available Measurements 1825.4.2 Motion Camouflage Guidance Law 1835.4.3 Evaluation 1855.5 Summary and Future Work 188References 1896 Integration of UAVs and Public Transportation Vehicles for Parcel Delivery 1956.1 Introduction 1956.2 Related Work 1996.3 System Model 2036.4 One-way Path Planning 2046.4.1 Problem Statement 2046.4.2 Proposed Solution 2076.4.2.1 Path Traversal Time 2076.4.2.2 Reliable Path Construction 2106.4.2.3 Energy-aware Reliable Path 2136.4.3 Evaluation 2156.5 Round-trip Path Planning in a Deterministic Network 2186.5.1 Deterministic Model 2186.5.1.1 Extended Multimodal Network 2206.5.2 Problem Statement 2226.5.2.1 Shortest UAV Path Problem 2226.5.3 Proposed Solution 2236.5.3.1 The Dijkstra-based Algorithm 2236.5.3.2 Reliable UAV Path 2256.5.3.3 Extended Coverage 2286.5.4 Evaluation 2286.6 Round-trip Path Planning in a Stochastic Network 2326.6.1 Problem Statement 2336.6.2 Proposed Solution 2356.6.2.1 Proposed Algorithm 2356.6.2.2 Robust Round-trip Planning Algorithm 2406.6.3 Evaluation 2436.7 Summary and Future Work 246References 246Abbreviations 252Index 253