[2023-03-17] Prof. Rung-Hung Gau,NYCU,"Reinforcement Learning-based Collision Avoidance and Optimal Trajectory Planning in UAV Communication Networks"

  • 2023-03-16
  • 宋欣薏(職務代理)
Title: Reinforcement Learning-based Collision Avoidance and Optimal Trajectory Planning in UAV Communication Networks
Date: 2023-03-17  14:20-15:30
Location: CSIE R103
Speaker: Prof. Rung-Hung Gau,NYCU
Hosted by: Prof. Phone Lin


We put forward a reinforcement learning approach of collision avoidance and investigate optimal trajectory planning for unmanned aerial vehicle (UAV) communication networks. Specifically, each UAV takes charge of delivering objects in the forward path and collecting data from heterogeneous ground IoT devices in the backward path. We adopt reinforcement learning for assisting UAVs to learn collision avoidance without knowing the trajectories of other UAVs in advance. Moreover, for each UAV, we use optimization theory to find out a shortest backward path that guarantees data collection from all associated IoT devices. To obtain an optimal visiting order for IoT devices, we formulate and solve a no-return traveling salesman problem. Given a visiting order, we formulate and solve a sequence of convex optimization problems to obtain line segments of an optimal backward path for heterogeneous ground IoT devices. We use analytical results and simulation results to justify the usage of the proposed approach. Simulation results show that the proposed approach is superior to a number of alternative approaches. I will also briefly introduce our latest work on visual coverage in UAV networks.
Rung-Hung Gau received the B.S. degree in electrical engineering from National Taiwan University, Taipei, Taiwan, the M.S. degree in electrical engineering from UCLA, Los Angeles, CA, USA, and the Ph.D. degree in electrical and computer engineering from Cornell University, Ithaca, NY, USA, in 1994, 1997, and 2001, respectively. He got the Wu Da-You Memorial Award from National Science Council in 2009. He served as the Director of Institute of Communications Engineering, National Chiao Tung University, Hsinchu, Taiwan from Aug. 2016 to Jan. 2021. He was the chair of Taipei Chapter, IEEE Communications Society between 2019 and 2020. He is currently a professor of the Institute of Communications Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan. His research interests include UAV networks, machine learning, wireless communications, stochastic processes and optimization.