Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866912988805464064 |
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| author | Silano, Giuseppe Licea, Daniel Bonilla Liuzza, Davide Franchi, Antonio Saska, Martin |
| author_facet | Silano, Giuseppe Licea, Daniel Bonilla Liuzza, Davide Franchi, Antonio Saska, Martin |
| contents | Multi-Rotor Aerial Vehicles (MRAVs) are increasingly used in communication-dependent missions where connectivity loss directly compromises task execution. Existing anti-jamming strategies often decouple motion from communication, overlooking that link quality depends on vehicle attitude and antenna orientation. In coplanar platforms, "tilt-to-translate" maneuvers can inadvertently align antenna nulls with communication partners, causing severe degradation under interference. This paper presents a modular communications-aware control framework that combines a high-level max-min trajectory generator with an actuator-level Nonlinear Model Predictive Controller (NMPC). The trajectory layer optimizes the weakest link under jamming, while the NMPC enforces vehicle dynamics, actuator limits, and antenna-alignment constraints. Antenna directionality is handled geometrically, avoiding explicit radiation-pattern parametrization. The method is evaluated in a relay scenario with an active jammer and compared across coplanar and tilted-propeller architectures. Results show a near two-order-of-magnitude increase in minimum end-to-end capacity, markedly reducing outage events, with moderate average-capacity gains. Tilted platforms preserve feasibility and link quality, whereas coplanar vehicles show recurrent degradation. These findings indicate that full actuation is a key enabler of reliable communications-aware operation under adversarial directional constraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_28467 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference Silano, Giuseppe Licea, Daniel Bonilla Liuzza, Davide Franchi, Antonio Saska, Martin Robotics Multi-Rotor Aerial Vehicles (MRAVs) are increasingly used in communication-dependent missions where connectivity loss directly compromises task execution. Existing anti-jamming strategies often decouple motion from communication, overlooking that link quality depends on vehicle attitude and antenna orientation. In coplanar platforms, "tilt-to-translate" maneuvers can inadvertently align antenna nulls with communication partners, causing severe degradation under interference. This paper presents a modular communications-aware control framework that combines a high-level max-min trajectory generator with an actuator-level Nonlinear Model Predictive Controller (NMPC). The trajectory layer optimizes the weakest link under jamming, while the NMPC enforces vehicle dynamics, actuator limits, and antenna-alignment constraints. Antenna directionality is handled geometrically, avoiding explicit radiation-pattern parametrization. The method is evaluated in a relay scenario with an active jammer and compared across coplanar and tilted-propeller architectures. Results show a near two-order-of-magnitude increase in minimum end-to-end capacity, markedly reducing outage events, with moderate average-capacity gains. Tilted platforms preserve feasibility and link quality, whereas coplanar vehicles show recurrent degradation. These findings indicate that full actuation is a key enabler of reliable communications-aware operation under adversarial directional constraints. |
| title | Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.28467 |