UAV-UGV Cooperative Trajectory Optimization and Task Allocation for Medical Rescue Tasks in Post-Disaster Environments

In post-disaster scenarios, rapid and efficient delivery of medical resources is critical and challenging due to severe damage to infrastructure. To provide an optimized solution, we propose a cooperative trajectory optimization and task allocation framework leveraging unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). This study integrates a Genetic Algorithm (GA) for efficient task allocation among multiple UAVs and UGVs, and employs an informed-RRT* (Rapidly-exploring Random Tree Star) algorithm for collision-free trajectory generation. Further optimization of task sequencing and path efficiency is conducted using Covariance Matrix Adaptation Evolution Strategy (CMA-ES). Simulation experiments conducted in a realistic post-disaster environment demonstrate that our proposed approach significantly improves the overall efficiency of medical rescue operations compared to traditional strategies, showing substantial reductions in total mission completion time and traveled distance. Additionally, the cooperative utilization of UAVs and UGVs effectively balances their complementary advantages, highlighting the system' s scalability and practicality for real-world deployment.

Channel Measurement for Holographic MIMO: Benefits and Challenges of Spatial Oversampling

In this paper, the channel of an indoor holographic multiple-input multiple-output (MIMO) system is measured. It is demonstrated through experiments for the first time that the spatial oversampling of holographic MIMO systems is able to increase the capacity of a wireless communication system significantly. However, the antenna efficiency is the most crucial challenge preventing us from getting the capacity improvement. An extended EM-compliant channel model is also proposed for holographic MIMO systems, which is able to take the non-isotropic characteristics of the propagation environment, the antenna pattern distortion, the antenna efficiency, and the polarization characteristics into consideration.