This letter presents a new approach to enhance the anti-jamming capability of unmanned aerial vehicle (UAV)-assisted wireless data collection, specifically addressing the challenge of multi-jammers attacks in the context of imperfect channel state information (CSI). The proposed approach is designed for a scenario where a single UAV is responsible for collecting data from multiple ground sensors, while encountering multi-jammers from a ground-based adversary. The objective is to maximize the average data rate of all sensors while ensuring a sufficient amount of data is collected from each sensor. The optimization problem is formulated as a mixed-integer non-convex problem, and successive convex approximation(SCA) technique is employed, which jointly optimizes the collection schedule, power control and UAV trajectory. Numerical simulations demonstrate that the proposed approach outperforms in the presence of interference and imperfect CSI.

The slow convergence rate and large cost of the initial solution limit the performance of rapidly exploring random tree star (RRT*). To address this issue, this paper proposes a modified RRT* algorithm (defined as FF-RRT*) that creates an optimal initial solution with a fast convergence rate. An improved hybrid sampling method is proposed to speed up the convergence rate by decreasing the iterations and overcoming the application limitation of the original hybrid sampling method towards concave cavity obstacle. The improved hybrid sampling method combines the goal bias sampling strategy and random sampling strategy, which requires a few searching time, resulting in a faster convergence rate than the existing method. Then, a parent node is created for the sampling node to optimize the path. Finally, the performance of FF-RRT* is validated in four simulation environments and compared with the other algorithms. The FF-RRT* shortens 32% of the convergence time in complex maze environment and 25% of the convergence time in simple maze environment compared to F-RRT*. And in a complex maze with a concave cavity obstacle, the average convergence time of Fast-RRT* in this environment is 134% more than the complex maze environment compared to 12% with F-RRT* and 34% with FF-RRT*. The simulation results show that FF-RRT* possesses superior performance compared to the other algorithms, and also fits with a much more complex environment.

Using adaptive dynamic programming (ADP), this paper presents a novel attitude-tracking scheme for over-actuated tailless unmanned aerial vehicles (UAVs) that integrates control and control allocation while accounting for nonlinearity and nonaffine control inputs. The proposed method uses the idea of nonlinear dynamic inversion to create an augmented system and converts the optimal tracking problem into an optimal regulation problem using a discounted performance function. Drawing inspiration from incremental control, this method achieves optimal tracking control for the nonaffine system by simply using a critic-only structure. Moreover, the unique design of the performance function ensures robustness against model uncertainties and external disturbances. The ADP method was found to outperform traditional control architectures that separate control and control allocation, achieving the same level of attitude-tracking performance through a more optimized approach. Furthermore, unlike many recent optimal controllers for nonaffine systems, our method does not require any model identifiers and demonstrates robustness. The superiority of the ADP-based approach is verified through two simulated scenarios, and its internal mechanism is further discussed. The theoretical analysis of robustness and stability is also provided.