List of Contributors |
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xvii | |
Acronyms |
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xxi | |
Part I Fundamentals of UAV Communications |
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1 | (102) |
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3 | (14) |
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1.1 UAV Definitions, Classes, and Global Trend |
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3 | (1) |
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1.2 UAV Communication and Spectrum Requirement |
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4 | (2) |
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1.3 Potential Existing Technologies for UAV Communications |
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6 | (3) |
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6 | (1) |
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7 | (1) |
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8 | (1) |
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8 | (1) |
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1.4 Two Paradigms in Cellular UAV Communications |
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9 | (2) |
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1.4.1 Cellular-Connected UAVs |
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9 | (1) |
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1.4.2 UAV-Assisted Wireless Communications |
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10 | (1) |
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1.5 New Opportunities and Challenges |
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11 | (2) |
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11 | (1) |
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1.5.2 High LoS Probability |
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12 | (1) |
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12 | (1) |
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13 | (1) |
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1.6 Chapter Summary and Main Organization of the Book |
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13 | (2) |
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15 | (2) |
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2 A Survey of Air-to-Ground Propagation Channel Modeling for Unmanned Aerial Vehicles |
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17 | (54) |
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17 | (3) |
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20 | (2) |
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2.2.1 Literature Review on Aerial Propagation |
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20 | (1) |
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2.2.2 Existing Surveys on UAV AG Propagation |
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21 | (1) |
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2.3 UAV AG Propagation Characteristics |
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22 | (3) |
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2.3.1 Comparison of UAV AG and Terrestrial Propagation |
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22 | (1) |
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2.3.2 Frequency Bands for UAV AG Propagation |
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23 | (1) |
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2.3.3 Scattering Characteristics for AG Propagation |
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24 | (1) |
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2.3.4 Antenna Configurations for AG Propagation |
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24 | (1) |
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25 | (1) |
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2.4 AG Channel Measurements: Configurations, Challenges, Scenarios, and Waveforms |
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25 | (8) |
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2.4.1 Channel Measurement Configurations |
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26 | (3) |
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2.4.2 Challenges in AG Channel Measurements |
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29 | (1) |
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2.4.3 AG Propagation Scenarios |
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29 | (1) |
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31 | (1) |
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2.4.3.2 Hilly/Mountainous |
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31 | (1) |
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32 | (1) |
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32 | (1) |
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2.4.4 Elevation Angle Effects |
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32 | (1) |
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2.5 UAV AG Propagation Measurement and Simulation Results in the Literature |
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33 | (8) |
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2.5.1 Path Loss/Shadowing |
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33 | (3) |
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36 | (1) |
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2.5.3 Narrowband Fading and Ricean K-factor |
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36 | (1) |
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37 | (1) |
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2.5.5 Effects of UAV AG Measurement Environment |
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37 | (1) |
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38 | (1) |
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38 | (1) |
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2.5.5.3 Mountains/Hilly, Over Sea, Forest |
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39 | (1) |
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2.5.6 Simulations for Channel Characterization |
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40 | (1) |
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2.6 UAV AG Propagation Models |
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41 | (19) |
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2.6.1 AG Propagation Channel Model Types |
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41 | (1) |
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2.6.2 Path-Loss and Large-Scale Fading Models |
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42 | (1) |
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2.6.2.1 Free-Space Path-Loss Model |
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43 | (1) |
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2.6.2.2 Floating-Intercept Path-Loss Model |
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43 | (1) |
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2.6.2.3 Dual-Slope Path-Loss Model |
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43 | (1) |
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2.6.2.4 Log-Distance Path-Loss Model |
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45 | (1) |
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2.6.2.5 Modified FSPL Model |
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45 | (1) |
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45 | (1) |
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2.6.2.7 Log-Distance FI Model |
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45 | (1) |
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2.6.2.8 LOS/NLOS Mixture Path-Loss Model |
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46 | (1) |
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47 | (1) |
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2.6.4 Small-Scale Fading Models |
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47 | (1) |
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48 | (3) |
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2.6.6 Effect of Frequency Bands on Channel Models |
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51 | (1) |
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2.6.7 MIMO AG Propagation Channel Models |
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52 | (2) |
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2.6.8 Comparison of Different AG Channel Models |
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54 | (1) |
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2.6.8.1 Large-Scale Fading Models |
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54 | (1) |
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2.6.8.2 Small-Scale Fading Models |
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54 | (1) |
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2.6.9 Comparison of Traditional Channel Models with UAV AG Propagation Channel Models |
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55 | (1) |
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2.6.10 Ray Tracing Simulations |
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56 | (2) |
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2.6.11 3GPP Channel Models for UAVs |
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58 | (2) |
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60 | (1) |
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60 | (11) |
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3 UAV Detection and Identification |
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71 | (32) |
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71 | (4) |
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3.2 RF-Based UAV Detection Techniques |
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75 | (2) |
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3.2.1 RF Fingerprinting Technique |
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76 | (1) |
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3.2.2 WiFi Fingerprinting Technique |
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76 | (1) |
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3.3 Multistage UAV RF Signal Detection |
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77 | (12) |
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3.3.1 Preprocessing Step: Multiresolution Analysis |
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78 | (4) |
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3.3.2 The Naive Bayesian Decision Mechanism for RF Signal Detection |
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82 | (2) |
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3.3.3 Detection of WiFi and Bluetooth Interference |
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84 | (5) |
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3.4 UAV Classification Using RF Fingerprints |
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89 | (3) |
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3.4.1 Feature Selection Using Neighborhood Components Analysis (NCA) |
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91 | (1) |
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92 | (8) |
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92 | (2) |
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94 | (1) |
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3.5.3 UAV Classification Results |
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95 | (5) |
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100 | (1) |
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100 | (1) |
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100 | (3) |
Part II Cellular-Connected UAV Communications |
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103 | (128) |
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4 Performance Analysis for Cellular-Connected UAVs |
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105 | (34) |
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105 | (4) |
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105 | (2) |
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107 | (1) |
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4.1.3 Contributions and Chapter Structure |
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108 | (1) |
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4.2 Modelling Preliminaries |
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109 | (3) |
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4.2.1 Stochastic Geometry |
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109 | (1) |
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4.2.2 Network Architecture |
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110 | (1) |
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111 | (1) |
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4.2.4 Blockage Modeling and LoS Probability |
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112 | (1) |
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4.2.5 User Association Strategy and Link SINR |
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112 | (1) |
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112 | (7) |
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4.3.1 Exact Coverage Probability |
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113 | (2) |
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4.3.2 Approximations for UAV Coverage Probability |
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115 | (1) |
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4.3.2.1 Discarding NLoS and Noise Effects |
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116 | (1) |
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116 | (2) |
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4.3.3 Achievable Throughput and Area Spectral Efficiency Analysis |
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118 | (1) |
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4.4 System Design: Study Cases and Discussion |
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119 | (10) |
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4.4.1 Analysis of Accuracy |
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119 | (1) |
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120 | (1) |
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4.4.2.1 Impact of UAV Altitude |
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120 | (1) |
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4.4.2.2 Impact of UAV Antenna Beamwidth |
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121 | (1) |
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4.4.2.3 Impact of UAV Antenna Tilt |
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123 | (1) |
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4.4.2.4 Impact of Different Types of Environment |
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123 | (2) |
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4.4.3 Heterogeneous Networks - Tier Selection |
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125 | (2) |
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4.4.4 Network Densification |
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127 | (2) |
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129 | (7) |
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136 | (3) |
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5 Performance Enhancements for LTE-Connected UAVs: Experiments and Simulations |
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139 | (24) |
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Rafhael Medeiros de Amorim |
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139 | (1) |
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5.2 LTE Live Network Measurements |
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140 | (9) |
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5.2.1 Downlink Experiments |
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141 | (4) |
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5.2.2 Path-Loss Model Characterization |
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145 | (1) |
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145 | (4) |
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5.3 Performance in LTE Networks |
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149 | (1) |
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5.4 Reliability Enhancements |
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150 | (9) |
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5.4.1 Interference Cancellation |
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151 | (1) |
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5.4.2 Inter-Cell Interference Control |
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152 | (1) |
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152 | (1) |
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5.4.4 Antenna Beam Selection |
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153 | (2) |
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155 | (3) |
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158 | (1) |
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158 | (1) |
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159 | (1) |
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160 | (3) |
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6 3GPP Standardization for Cellular-Supported UAVs |
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163 | (18) |
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6.1 Short Introduction to LTE and NR |
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163 | (4) |
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6.1.1 LTE Physical Layer and MIMO |
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165 | (1) |
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6.1.2 NR Physical Layer and MIMO |
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166 | (1) |
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6.2 Drones Served by Mobile Networks |
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167 | (5) |
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6.2.1 Interference Detection and Mitigation |
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168 | (2) |
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6.2.2 Mobility for Drones |
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170 | (1) |
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6.2.3 Need for Drone Identification and Authorization |
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171 | (1) |
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6.3 3GPP Standardization Support for UAVs |
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172 | (5) |
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6.3.1 Measurement Reporting Based on RSRP Level of Multiple Cells |
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172 | (2) |
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6.3.2 Height, Speed, and Location Reporting |
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174 | (1) |
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6.3.3 Uplink Power Control Enhancement |
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175 | (1) |
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6.3.4 Flight Path Signalling |
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175 | (1) |
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6.3.5 Drone Authorization and Identification |
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176 | (1) |
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6.4 Flying Mode Detection in Cellular Networks |
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177 | (2) |
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179 | (2) |
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7 Enhanced Cellular Support for UAVs with Massive MIMO |
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181 | (22) |
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181 | (1) |
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181 | (6) |
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7.2.1 Cellular Network Topology |
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183 | (1) |
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184 | (2) |
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7.2.3 Massive MIMO Channel Estimation |
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186 | (1) |
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7.2.4 Massive MIMO Spatial Multiplexing |
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186 | (1) |
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7.3 Single-User Downlink Performance |
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187 | (3) |
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7.3.1 UAV Downlink C&C Channel |
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187 | (3) |
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7.4 Massive MIMO Downlink Performance |
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190 | (4) |
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7.4.1 UAV Downlink C&C Channel |
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190 | (2) |
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7.4.2 UAV-GUE Downlink Interplay |
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192 | (2) |
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7.5 Enhanced Downlink Performance |
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194 | (3) |
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7.5.1 UAV Downlink C&C Channel |
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195 | (1) |
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7.5.2 UAV-GUE Downlink Interplay |
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196 | (1) |
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197 | (2) |
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7.6.1 UAV Uplink C&C Channel and Data Streaming |
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197 | (1) |
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7.6.2 UAV-GUE Uplink Interplay |
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198 | (1) |
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199 | (1) |
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200 | (3) |
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8 High-Capacity Millimeter Wave UAV Communications |
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203 | (28) |
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203 | (3) |
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8.2 UAV Roles and Use Cases Enabled by Millimeter Wave Communication |
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206 | (2) |
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8.2.1 UAV Roles in Cellular Networks |
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206 | (1) |
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8.2.2 UAV Use Cases Enabled by High-Capacity Cellular Networks |
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207 | (1) |
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8.3 Aerial Channel Models at Millimeter Wave Frequencies |
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208 | (7) |
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8.3.1 Propagation Considerations for Aerial Channels |
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208 | (1) |
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8.3.1.1 Atmospheric Considerations |
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208 | (1) |
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210 | (1) |
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8.3.2 Air-to-Air Millimeter Wave Channel Model |
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211 | (1) |
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8.3.3 Air-to-Ground Millimeter Wave Channel Model |
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212 | (2) |
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8.3.4 Ray Tracing as a Tool to Obtain Channel Measurements |
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214 | (1) |
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8.4 Key Aspects of UAV MIMO Communication at mmWave Frequencies |
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215 | (4) |
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8.5 Establishing Aerial mmWave MIMO Links |
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219 | (3) |
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8.5.1 Beam Training and Tracking for UAV Millimeter Wave Communication |
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219 | (1) |
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8.5.2 Channel Estimation and Tracking in Aerial Environments |
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219 | (2) |
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8.5.3 Design of Hybrid Precoders and Combiners |
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221 | (1) |
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8.6 Research Opportunities |
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222 | (1) |
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8.6.1 Sensing at the Tower |
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222 | (1) |
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8.6.2 Joint Communication and Radar |
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222 | (1) |
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8.6.3 Positioning and Mapping |
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223 | (1) |
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223 | (1) |
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223 | (8) |
Part III UAV-Assisted Wireless Communications |
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231 | (118) |
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9 Stochastic Geometry-Based Performance Analysis of Drone Cellular Networks |
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233 | (22) |
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233 | (2) |
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9.2 Overview of the System Model |
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235 | (3) |
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235 | (1) |
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9.2.2 3GPP-Inspired Mobility Model |
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236 | (1) |
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237 | (1) |
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9.2.4 Metrics of Interest |
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237 | (1) |
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238 | (4) |
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242 | (4) |
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9.5 Results and Discussion |
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246 | (4) |
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9.5.1 Density of Interfering DBSs |
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247 | (1) |
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247 | (2) |
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9.5.3 Handover Probability |
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249 | (1) |
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250 | (1) |
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251 | (1) |
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251 | (4) |
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10 UAV Placement and Aerial-Ground Interference Coordination |
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255 | (28) |
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255 | (1) |
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256 | (3) |
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10.3 UABS Use Case for AG-HetNets |
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259 | (1) |
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10.4 UABS Placement in AG-HetNet |
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260 | (4) |
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10.5 AG-HetNet Design Guidelines |
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264 | (2) |
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265 | (1) |
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10.5.1.1 Log-Distance Path-Loss Model |
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265 | (1) |
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10.5.1.2 Okumura-Hata Path-Loss Model |
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266 | (1) |
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10.6 Inter-Cell Interference Coordination |
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266 | (4) |
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10.6.1 UE Association and Scheduling |
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269 | (1) |
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270 | (9) |
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10.7.1 5pSE with UABSs Deployed on Hexagonal Grid |
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270 | (1) |
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10.7.1.1 5pSE with Log-Normal Path-Loss Model |
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270 | (1) |
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10.7.1.2 5pSE with Okumura-Hata Path-Loss Model |
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271 | (2) |
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10.7.2 5pSE with GA-Based UABS Deployment Optimization |
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273 | (1) |
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10.7.2.1 5pSE with Log-Normal Path-Loss Model |
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273 | (1) |
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10.7.2.2 5pSE with Okumura-Hata Path-Loss model |
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275 | (1) |
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10.7.3 Performance Comparison Between Fixed (Hexagonal) and Optimized UABS Deployment with eICIC and FeICIC |
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276 | (1) |
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10.7.3.1 Influence of LDPLM on 5pSE |
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277 | (1) |
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10.7.3.2 Influence of OHPLM on 5pSE |
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277 | (1) |
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10.7.4 Comparison of Computation Time for Different UABS Deployment Algorithms |
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277 | (2) |
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279 | (1) |
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279 | (4) |
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11 Joint Trajectory and Resource Optimization |
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283 | (16) |
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11.1 General Problem Formulation |
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283 | (2) |
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11.2 Initial Path Planning via the Traveling Salesman and Pickup-and-Delivery Problems |
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285 | (5) |
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11.2.1 TSP without Return |
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286 | (1) |
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11.2.2 TSP with Given Initial and Final Locations |
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287 | (1) |
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11.2.3 TSP with Neighborhood |
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287 | (1) |
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11.2.4 Pickup-and-Delivery Problem |
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288 | (2) |
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11.3 Trajectory Discretization |
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290 | (1) |
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11.3.1 Time Discretization |
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290 | (1) |
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11.3.2 Path Discretization |
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291 | (1) |
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11.4 Block Coordinate Descent |
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291 | (1) |
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11.5 Successive Convex Approximation |
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292 | (3) |
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295 | (1) |
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296 | (1) |
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296 | (3) |
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12 Energy-Efficient UAV Communications |
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299 | (16) |
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12.1 UAV Energy Consumption Model |
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299 | (7) |
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12.1.1 Fixed-Wing Energy Model |
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300 | (1) |
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300 | (1) |
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12.1.1.2 Straight and Level Flight |
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301 | (1) |
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302 | (1) |
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12.1.1.4 Arbitrary Level Flight |
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303 | (1) |
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12.1.1.5 Arbitrary 3D Flight |
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304 | (1) |
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12.1.2 Rotary-Wing Energy Model |
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304 | (2) |
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12.2 Energy Efficiency Maximization |
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306 | (4) |
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12.3 Energy Minimization with Communication Requirement |
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310 | (2) |
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12.4 UAV-Ground Energy Trade-off |
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312 | (1) |
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312 | (1) |
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313 | (2) |
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13 Fundamental Trade-Offs for UAV Communications |
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315 | (14) |
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315 | (2) |
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13.2 Fundamental Trade-offs |
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317 | (2) |
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13.2.1 Throughput-Delay Trade-Off |
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317 | (1) |
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13.2.2 Throughput-Energy Trade-Off |
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318 | (1) |
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13.2.3 Delay-Energy Trade-Off |
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319 | (1) |
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13.3 Throughput-Delay Trade-Off |
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319 | (4) |
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13.3.1 Single-UAV-Enabled Wireless Network |
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319 | (2) |
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13.3.2 Multi-UAV-Enabled Wireless Network |
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321 | (2) |
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13.4 Throughput-Energy Trade-Off |
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323 | (2) |
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13.4.1 UAV Propulsion Energy Consumption Model |
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323 | (1) |
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13.4.2 Energy-Constrained Trajectory Optimization |
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324 | (1) |
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13.5 Further Discussions and Future Work |
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325 | (2) |
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327 | (1) |
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327 | (2) |
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14 UAV-Cellular Spectrum Sharing |
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329 | (20) |
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329 | (4) |
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329 | (1) |
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14.1.1.1 Overlay Spectrum Sharing |
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329 | (1) |
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14.1.1.2 Underlay Spectrum Sharing |
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330 | (1) |
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14.1.2 Drone Communication |
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330 | (1) |
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14.1.2.1 UAV Spectrum Sharing |
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331 | (1) |
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14.1.2.2 UAV Spectrum Sharing with Exclusive Regions |
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332 | (1) |
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333 | (1) |
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14.2 SNR Meta-Distribution of Drone Networks |
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333 | (5) |
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14.2.1 Stochastic Geometry Analysis |
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333 | (1) |
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14.2.2 Characteristic Function of the SNR Meta-Distribution |
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334 | (4) |
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338 | (1) |
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14.3 Spectrum Sharing of Drone Networks |
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338 | (7) |
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14.3.1 Spectrum Sharing in Single-Tier DSCs |
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339 | (3) |
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14.3.2 Spectrum Sharing with Cellular Network |
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342 | (3) |
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345 | (1) |
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346 | (3) |
Part IV Other Advanced Technologies for UAV Communications |
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349 | (84) |
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15 Non-Orthogonal Multiple Access for UAV Communications |
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351 | (22) |
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351 | (1) |
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352 | (1) |
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15.2 User-Centric Strategy for Emergency Communications |
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352 | (7) |
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354 | (1) |
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354 | (1) |
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355 | (1) |
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15.2.2 Coverage Probability of the User-Centric Strategy |
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356 | (3) |
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15.3 UAV-Centric Strategy for Offloading Actions |
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359 | (5) |
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360 | (1) |
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15.3.2 Coverage Probability of the UAV-Centric Strategy |
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361 | (3) |
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364 | (5) |
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15.4.1 User-Centric Strategy |
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365 | (2) |
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15.4.2 UAV-Centric Strategy |
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367 | (2) |
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369 | (1) |
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369 | (4) |
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16 Physical Layer Security for UAV Communications |
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373 | (26) |
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373 | (1) |
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16.2 Breaching Security in Wireless Networks |
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374 | (1) |
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16.2.1 Denial-of-Service Attacks |
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374 | (1) |
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16.2.2 Masquerade Attacks |
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374 | (1) |
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16.2.3 Message Modification Attacks |
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374 | (1) |
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16.2.4 Eavesdropping Intruders |
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375 | (1) |
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375 | (1) |
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16.3 Wireless Network Security Requirements |
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375 | (1) |
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375 | (1) |
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376 | (1) |
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376 | (1) |
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376 | (1) |
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16.4 Physical Layer Security |
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376 | (3) |
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16.4.1 Physical Layer versus Upper Layers |
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377 | (1) |
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16.4.2 Physical Layer Security Techniques |
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377 | (1) |
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16.4.2.1 Artificial Noise |
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378 | (1) |
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16.4.2.2 Cooperative Jamming |
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378 | (1) |
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378 | (1) |
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16.5 Physical Layer Security for UAVs |
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379 | (4) |
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16.5.1 UAV Trajectory Design to Enhance PLS |
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379 | (2) |
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16.5.2 Cooperative Jamming to Enhance PLS |
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381 | (1) |
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16.5.3 Spectral- and Energy-Efficient PLS Techniques |
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382 | (1) |
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16.6 A Case Study: Secure UAV Transmission |
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383 | (9) |
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383 | (1) |
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16.6.1.1 Location Distribution and mmWave Channel Model |
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385 | (1) |
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16.6.2 Protected Zone Approach for Enhancing PLS- |
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385 | (1) |
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16.6.3 Secure NOMA for UAV BS Downlink |
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386 | (1) |
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16.6.3.1 Secrecy Outage and Sum Secrecy Rates |
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386 | (1) |
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16.6.3.2 Shape Optimization for Protected Zone |
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388 | (1) |
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16.6.3.3 Numerical Results |
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389 | (1) |
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16.6.3.4 Location of the Most Detrimental Eavesdropper |
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389 | (1) |
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16.6.3.5 Impact of the Protected Zone Shape on Secrecy Rates |
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390 | (1) |
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16.6.3.6 Variation of Secrecy Rates with Altitude |
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391 | (1) |
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392 | (1) |
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393 | (6) |
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17 UAV-Enabled Wireless Power Transfer |
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399 | (18) |
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399 | (2) |
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401 | (1) |
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17.3 Sum-Energy Maximization |
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402 | (1) |
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17.4 Min-Energy Maximization under Infinite Charging Duration |
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403 | (4) |
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17.4.1 Multi-Location-Hovering Solution |
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404 | (3) |
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17.5 Min-Energy Maximization Under Finite Charging Duration |
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407 | (4) |
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17.5.1 Successive Hover-and-Fly Trajectory Design |
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407 | (1) |
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17.5.1.1 Flying Distance Minimization to Visit r Hovering Locations |
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407 | (1) |
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17.5.1.2 Hovering Time Allocation When T > or = to Tfly |
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408 | (1) |
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17.5.1.3 Trajectory Refinement When T < Tfly |
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409 | (1) |
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17.5.2 SCA-Based Trajectory Design |
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409 | (2) |
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411 | (2) |
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17.7 Conclusion and Future Research Directions |
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413 | (2) |
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415 | (2) |
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18 Ad-Hoc Networks in the Sky |
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|
417 | (16) |
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18.1 Communication Support for UAVs |
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|
417 | (4) |
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18.1.1 Satellite Connectivity |
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|
418 | (2) |
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18.1.2 Cellular Connectivity |
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420 | (1) |
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18.1.3 Aerial Connectivity |
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|
420 | (1) |
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18.2 The Mobility Challenge |
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|
421 | (2) |
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18.2.1 UAS-to-UAS Communication |
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421 | (1) |
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422 | (1) |
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18.3 Establishing an Ad-Hoc Network |
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|
423 | (3) |
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18.3.1 Network Addressing |
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|
424 | (1) |
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|
425 | (1) |
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|
426 | (1) |
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18.4.1 ASTM: Remote ID for UAS |
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|
426 | (1) |
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18.4.2 EUROCAE: Safe, Secure, and Efficient UAS Operations |
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|
426 | (1) |
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18.4.3 3GPP: 4G LTE and 5G Support for Connected UAS Operations |
|
|
426 | (1) |
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18.4.4 IEEE P1920.1: Aerial Communications and Networking Standards |
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|
427 | (1) |
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18.4.5 IEEE P1920.2: Vehicle-to-Vehicle Communications Standard for UAS |
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|
427 | (1) |
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18.5 Technologies and Products |
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|
427 | (1) |
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18.5.1 Silvus Streamcaster |
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|
427 | (1) |
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427 | (1) |
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18.5.3 MPU5 and Wave Relay from Persistent Systems |
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|
428 | (1) |
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18.5.4 Kinetic Mesh Networks from Rajant |
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|
428 | (1) |
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18.6 Software-Defined Network as a Solution for UAV Networks |
|
|
428 | (1) |
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|
429 | (1) |
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|
429 | (4) |
Index |
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433 | |