Unmanned Aerial Vehicles (UAVs) have recently rapidly grown to facilitate a wide range of innovative applications that can fundamentally change the way cyber-physical systems (CPSs) are designed. CPSs are a modern generation of systems with synergic cooperation between computational and physical potentials that can interact with humans through several new mechanisms. The main advantages of using UAVs in CPS application is their exceptional features, including their mobility, dynamism, effortless deployment, adaptive altitude, agility, adjustability, and effective appraisal of real-world functions anytime and anywhere. Furthermore, from the technology perspective, UAVs are predicted to be a vital element of the development of advanced CPSs. Therefore, in this survey, we aim to pinpoint the most fundamental and important design challenges of multi-UAV systems for CPS applications. We highlight key and versatile aspects that span the coverage and tracking of targets and infrastructure objects, energy-efficient navigation, and image analysis using machine learning for fine-grained CPS applications. Key prototypes and testbeds are also investigated to show how these practical technologies can facilitate CPS applications. We present and propose state-of-the-art algorithms to address design challenges with both quantitative and qualitative methods and map these challenges with important CPS applications to draw insightful conclusions on the challenges of each application. Finally, we summarize potential new directions and ideas that could shape future research in these areas.

Within the paradigm of physical layer security, a physical layer characteristic is used as a common source of randomness to generate the secret key. This key is then used to encrypt the data to hide information from eavesdroppers. In this paper, we survey the most recent common sources of randomness used to generate the secret key. We present the steps used to extract the secret key from the estimated common source of randomness. We describe the metrics used to evaluate the strength of the generated key. We follow that with a qualitative comparison between different common sources of randomness along with a proposed new direction which capitalizes on hybridization of sources of randomness. We conclude by a discussion about current open research problems in secret key generation

In the context of physical layer security, a physical layer characteristic is used as a common source of randomness to generate the secret key. Therefore an accurate estimation of this characteristic is the core for reliable secret key generation. Estimation of almost all the existing physical layer characteristic suffer dramatically at low signal to noise (SNR) levels. In this paper, we propose a novel secret key generation algorithm that is based on the estimated angle of arrival (AoA) between the two legitimate nodes. Our algorithm has an outstanding performance at very low SNR levels. Our algorithm can exploit either the Azimuth AoA to generate the secret key or both the Azimuth and Elevation angles to generate the secret key. Exploiting a second common source of randomness adds an extra degree of freedom to the performance of our algorithm. We compare the performance of our algorithm to the algorithm that uses the most commonly used characteristics of the physical layer which are channel amplitude and phase. We show that our algorithm has a very low bit mismatch rate (BMR) at very low SNR when both channel amplitude and phase based algorithm fail to achieve an acceptable BMR.

Quickest change detection (QCD) is a fundamental problem in many applications. Given a sequence of measurements that exhibits two different distributions around a certain flipping point, the goal is to detect the change in distribution around the flipping point as quickly as possible. The QCD problem appears in many practical applications, e.g., quality control, power system line outage detection, spectrum reuse, and resource allocation and scheduling. In this paper, we focus on spectrum sensing as our application since it is a critical process for proper functionality of cognitive radio networks. Relying on the cumulative sum (CUSUM), we derive the probability of detection and the probability of false alarm of CUSUM based spectrum sensing. We show the correctness of our derivations using numerical simulations.

In the realm of Emergency Medical Services (EMS), the integration of Machine Learning (ML) techniques has emerged as a catalyst for revolutionizing ambulance operations. ML algorithms could play a pivotal role in dynamically allocating resources, devising efficient routes, and predicting demand patterns. By thoroughly reviewing the existing literature and methodologies, this paper provides a comprehensive overview of the approaches used in ambulance allocation, routing, demand estimation and simulation models. We discuss the challenges faced by these methods, emphasizing the need for innovative solutions that can adapt to real-time data and changing emergency patterns. Through this survey, we aim to offer valuable insights into the current state of research and practices, shedding light on potential areas for future exploration and development. The findings presented in this paper serve as a foundation for researchers and practitioners working towards enhancing the efficiency of ambulance deployment in EMS.