Internet of Vehicles (IoVs) is highly characterized by collaborative environment data sensing, computing and processing. Emerging big data and Artificial Intelligence (AI) technologies show significant advantages and efficiency for knowledge sharing among intelligent vehicles. However, it is challenging to guarantee the security and privacy of knowledge during the sharing process. Moreover, conventional AI-based algorithms cannot work properly in distributed vehicular networks. In this paper, a hierarchical blockchain framework and a hierarchical federated learning algorithm are proposed for knowledge sharing, by which vehicles learn environmental data through machine learning methods and share the learning knowledge with each others. The proposed hierarchical blockchain framework is feasible for the large scale vehicular networks. The hierarchical federated learning algorithm is designed to meet the distributed pattern and privacy requirement of IoVs. Knowledge sharing is then modeled as a trading market process to stimulate sharing behaviours, and the trading process is formulated as a multi-leader and multi-player game. Simulation results show that the proposed hierarchical algorithm can improve the sharing efficiency and learning quality. Furthermore, the blockchain-enabled framework is able to deal with certain malicious attacks effectively.

Led by industrialization of smart cities, numerous interconnected mobile devices and novel applications have emerged in the urban environment, providing great opportunities to realize industrial automation. In this context, autonomous driving is an attractive issue, which leverages large amounts of sensory information for smart navigation while posing intensive computation demands on resource constrained vehicles. Mobile Edge Computing (MEC) is a potential solution to alleviate the heavy burden on the devices. However, varying states of multiple edge servers as well as a variety of vehicular offloading modes make efficient task offloading a challenge. To cope with this challenge, we adopt a deep Q-learning approach for designing optimal offloading schemes, jointly considering selection of target server and determination of data transmission mode. Furthermore, we propose an efficient redundant offloading algorithm to improve task offloading reliability in the case of vehicular data transmission failure. We evaluate the proposed schemes based on real traffic data. Results indicate that our offloading schemes have great advantages in optimizing system utilities and improving offloading reliability.

With the advantages of easy deployment and flexible usage, unmanned aerial vehicle (UAV) has advanced the multitarget tracking (MTT) applications. The UAV-MTT system has great potentials to execute dull, dangerous, and critical missions for frontier defense and security. A key challenge in UAV-MTT is how to coordinate multiple UAVs to track diverse invading targets accurately and consecutively. In this article, we propose a UAV swarm-based cooperative tracking architecture to systematically improve the UAV tracking performance. We design an intelligent UAV swarm-based cooperative algorithm for consecutive target tracking and physical collision avoidance. Moreover, we design an efficient cooperative algorithm to predict the trajectory of invading targets accurately. Our simulation results demonstrate that the swarm behaviors stay stable in realistic scenarios with perturbing obstacles. Compared with state-of-the-art solutions, such as the matched deep $Q$ -network, our algorithms can increase tracking accuracy by 60%, reduce tracking delay by 23%, and achieve physical collision-avoidance during the tracking process.

Integrating mobile edge computing (MEC) with small cell networks has been conceived as a promising solution to provide pervasive computing services. However, the interactions among small cells due to inter-cell interference, the diverse application-specific requirements, as well as the highly dynamic wireless environment make it challenging to design an optimal computation offloading scheme. In this paper, we focus on the joint design of computation offloading and interference coordination for edge intelligence empowered small cell networks. To this end, we propose a distributed multi-agent deep reinforcement learning (DRL) scheme with the objective of minimizing the overall energy consumption while ensuring the latency requirements. Specifically, we exploit the collaboration among small cell base station (SBS) agents to adaptively adjust their strategies, considering computation offloading, channel allocation, power control, and computation resource allocation. Further, to decrease the computation complexity and signaling overhead of the training process, we design a federated DRL scheme which only requires SBS agents to share their model parameters instead of local training data. Numerical results demonstrate that our proposed schemes can significantly reduce the energy consumption and effectively guarantee the latency requirements compared with the benchmark schemes.

The Internet of things (IoT) platform has played a significant role in improving road transport safety and efficiency by ubiquitously connecting intelligent vehicles through wireless communications. Such an IoT paradigm however, brings in considerable strain on limited spectrum resources due to the need of continuous communication and monitoring. Cognitive radio (CR) is a potential approach to alleviate the spectrum scarcity problem through opportunistic exploitation of the underutilized spectrum. However, highly dynamic topology and time-varying spectrum states in CR-based vehicular networks introduce quite a few challenges to be addressed. Moreover, a variety of vehicular communication modes, such as vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V), as well as data QoS requirements pose critical issues on efficient transmission scheduling. Based on this motivation, in this paper, we adopt a deep Q-learning approach for designing an optimal data transmission scheduling scheme in cognitive vehicular networks to minimize transmission costs while also fully utilizing various communication modes and resources. Furthermore, we investigate the characteristics of communication modes and spectrum resources chosen by vehicles in different network states, and propose an efficient learning algorithm for obtaining the optimal scheduling strategies. Numerical results are presented to illustrate the performance of the proposed scheduling schemes.