Delay-Informed Intelligent Formation Control for UAV-Assisted IoT Application.

Multiple unmanned aerial vehicles (UAVs) have a greater potential to be widely used in UAV-assisted IoT applications. UAV formation, as an effective way to improve surveillance and security, has been extensively of concern. The leader-follower approach is efficient for UAV formation, as the whole formation system needs to find only the leader's trajectory. This paper studies the leader-follower surveillance system. Owing to different scenarios and assignments, the leading velocity is dynamic. The inevitable communication time delays resulting from information sending, communicating and receiving process bring challenges in the design of real-time UAV formation control. In this paper, the design of UAV formation tracking based on deep reinforcement learning (DRL) is investigated for high mobility scenarios in the presence of communication delay. To be more specific, the optimization UAV formation problem is firstly formulated to be a state error minimization problem by using the quadratic cost function when the communication delay is considered. Then, the delay-informed Markov decision process (DIMDP) is developed by including the previous actions in order to compensate the performance degradation induced by the time delay. Subsequently, an extended-delay informed deep deterministic policy gradient (DIDDPG) algorithm is proposed. Finally, some issues, such as computational complexity analysis and the effect of the time delay are discussed, and then the proposed intelligent algorithm is further extended to the arbitrary communication delay case. Numerical experiments demonstrate that the proposed DIDDPG algorithm can significantly alleviate the performance degradation caused by time delays.

Application of biomonitoring and support vector machine in water quality assessment.

The behavior of schools of zebrafish (Danio rerio) was studied in acute toxicity environments. Behavioral features were extracted and a method for water quality assessment using support vector machine (SVM) was developed. The behavioral parameters of fish were recorded and analyzed during one hour in an environment of a 24-h half-lethal concentration (LC(50)) of a pollutant. The data were used to develop a method to evaluate water quality, so as to give an early indication of toxicity. Four kinds of metal ions (Cu(2+), Hg(2+), Cr(6+), and Cd(2+)) were used for toxicity testing. To enhance the efficiency and accuracy of assessment, a method combining SVM and a genetic algorithm (GA) was used. The results showed that the average prediction accuracy of the method was over 80% and the time cost was acceptable. The method gave satisfactory results for a variety of metal pollutants, demonstrating that this is an effective approach to the classification of water quality.