5G 기반UAV 공중통신기술 - ajou.ac.kr

Wireless Internet aNd Network Engineering Research Lab.http://winner.ajou.ac.kr

Department of Electrical and Computer Engineering Ajou University, Korea

5G 기반 UAV 공중 통신 기술

2019. 06. 13.

김재현, 조준우

[email protected]

<군사 과학기술 심포지엄>

연구실 소개q Professor Jae-Hyun Kim

Ø Electrical and Computer Engineering, AJOU Univ., Suwon, KoreaØ E-mail: [email protected], Home Page : http://winner.ajou.ac.kr

q EducationØ Ph.D, MS, BS. C.S.E., Hanyang University, Korea (1996, 1993, 1991)Ø Post doctoral fellow EE., UCLA, USA (Apr. 1997 ~ Sep. 1998)

q ExperienceØ Professor (Mar. 2003 ~present), ECE, Ajou University, Suwon, Korea. Ø Member of Technical Staff (Nov. 1998 ~ Feb. 2003) Bell Laboratories, Lucent Technologies, NJ, USA. Ø Network Research Engineer, (Jun. 1997 ~ Sep. 1998) IRI Corp. Tarzana, CA. USA.Ø Research Student, (Jan. 1996 ~ Feb. 1996) CRL(Communication Research Laboratory), Tokyo, Japan

q ActivitiesØ Chair, (2018 ~) 5G Forum, Smart City Expert CommitteeØ Center Director, (2018 ~) SICAS(Satellite Information Convergence application Service ICT Research Center Ø Executive Director, (2016 ~)Korea Institute of Communication and Information Sciences (KICS) (2016~)Ø Chair, (2012 ~ 2014) IEEE ComSoc., APB Information Service Committee

q Awards Ø Service Achievement Award from IEIE and KICS , KOREA (Nov. 17, Nov, 16)Ø Best Journal Paper Awards, KICS (Nov. 17)Ø Best Conference Paper Awards on KICS Conference (Jun 18, Jun. 17, Nov, 16, Jun. 15)Ø IEEE SEOUL SECTION STUDENT PAPER AWARD 2016, Gold Best Paper Award (Dec. 16, Dec 17)Ø Bronze Paper Award, ICEIC 2015, (Jan. 15)

연구실 소개

q Current members : 12 Ø Research professors: 2 (김두환 교수님, 기충호 교수님)

Ø Ph.D students 3 (정소이, 김경록, 강석원)

Ø MS/Ph.D Integrated students 3 (천혜림, 김진기, 조준우)

Ø MS students 2 (김송, 이원재)

Ø Intern 2 (정홍제, 김태윤)

q Alumni members : 34Ø Ph.D graduated students (11 people)

Ø Master graduated students (23 people)

§박우철, 오성민, 차재룡, 이현진, 강신헌, 이충희, 김지수, 강정호, 고광춘, 이규환, 이승용§Work at ADD(Agency for Defense Development), NSRI(National Security Research Institute), ETRI(Electronics and Telecommunications Research Institute), KIDA(Korea Institute for Defense Analyses), KETI(Korea Evaluation Institute of Industrial Technology, LIG Nex1, Korea ARMY

§최호승, 이주아, 이성진, 오승환, 추상민, Saurabh Mehta, 안두성, 김신구, 박한준, 양희인, 김기훈, 김동욱, 김흥식, Nathnael Gebregziabher Weldegiorgis, 정현기, 최동열, 김원경, 유승수, 김종무, MoonmoonMohanty, 안종철, 이동학, 오지훈§Work at Samsung Electronics, LG Electronics, Hanwha Systems, Hyundai, Posco ICT, Solvit, TTA, Innowireless, and etc

2019.05 스승의날 행사

2019.02 WINNER 신년회

Contents

Introduction

5G UAV service scenarios and requirements

Research Trends for UAV with 5G technology

Conclusion

1

2

3

4

5G Vision: What is 5G ?

q 5G key performance indicators (KPIs)Ø>10 Gbps peak data rates for the enhanced mobile broadband (eMBB)Ø<1 ms latency for ultra-reliable low-latency communication (URLLC)

Ø>1 M/km2 connections for massive machine-type communications (mMTC)

[1] 3GPP Release 15 Overview, “https://spectrum.ieee.org/telecom/wireless/3gpp-release-15-overview”[2] Qualcomm, “Leading the World to 5G: Evolving Cellular technologies for safer drone operation” 5

5G UAV

q Reason to introduce 5G in UAVØ Leveraging massive IoT capabilities and 5G mission critical

[2] Qualcomm, “Leading the World to 5G: Evolving Cellular technologies for safer drone operation” 6

5G UAV: Application (1/3)

[3] Amazon launch drone delivery 2019, https://www.youtube.com/watch?v=dRajlhJOkRo[4] KT 5G skyship, https://blog.kt.com/937 7

q Amazon Drone DeliveryØGPS and other factors to complete

the transactionü First delivery service (16. 12)

Ø 5G UAV application (2020) ü Drone / IoT applicationü Drone safer control

q KT 5G skyshipØReal-time remote control & video

transmissionØUse case

ü Public safetyü Entertainment• Broadcasting sports, etc.


[5] Unmanned Life, http://unmanned.life/case-study-operators-collaborate-with-industry-partners-to-drive-new-mission-critical-services-globally-using-5g[6] AI 드론, ”https://www.youtube.com/watch?v=J9qGNZypdyo” 8

q Mission-critical services globallyØRemote control & video

transmissionØDemonstrated (18.02)

ü BT, Verizon, Ericsson, King’s college, Unmanned life

ü Combining 5G radio, with its inherent higher bandwidth and lower latency

q SKT AI Drone ØSecurity and public safetyØDemonstration (19.01)

ü Real-time video transmission (LTE)ü 3 Drone (Reconnaissance),

Center (facial recognition software) • Center – drone Distance : 2.5 km


[7] Hawk 30, ”https://futurism.com/the-byte/aerovironment-softbank-5g-drone-uav” 9

q Mobile Broadband (Hawk 30)Ø SoftBank and AerovironmentØHigh Altitude Platform (HAPS)

ü Almost 20 kilometersØDesign

ü Curved wingsü 10 electric engines

ØOne drone: 1,800 cell towers

q Mobile Broadband (FB/Google)Ø Facebook – Aquila project

ü Be grounded

ØGoogle – Skybender projectü Replaced Alphabet’s Loon Project

= 19km

Contents

Introduction



Conclusion

1

2

3

4

UAV communications in 3GPP cellular standards

q List of Work Item about UAV in 5G (3GPP)Ø Search date : 2019. 04. 19Ø Search keyword : Unmanned

11[8] 3GPP List of Work item, “https://www.3gpp.org/DynaReport/WI-List.htm”

Spec # Title Radio Tech.Start date / End date Work item

TS 22.125Unmanned Aerial System (UAS) support

in 3GPP5G

2018-03-15 / 2018-12-14 ID_UAS

TR 22.829 Study on enhancement for UAVs LTE, 5G2018-09-06/2019-12-13 FS_EAV

TR 23.754Study on supporting unmanned aerial systems connectivity, Identification and

tracking5G

2018-12-06 / 2020-03-12 FS_ID_UAS_SA2

TR 23.755Study on application layer support for

Unmanned Aerial Systems (UAS)5G

2018-12-06 / 2019-12-13 FS_UASAPP

TR 38.811Study on New Radio (NR) to support non

terrestrial networks (Release 15)5G

2017-03-15 / 2018-06-15

FS_NR_nonterr_nw

Study on enhancement for UAVs

q ScopeØProvide use cases and analysis of UAV capabilities that may require enhanced

3GPP support

q ContentsØDescriptionØPre-conditionØService FlowsØPost-conditionØ Existing features partly or fully covering the use case functionalityØPotential new requirements needed to support the use case

12[9] 3GPP TR 22.829 v1.0, “Technical specification group services and system aspects, study on enhancement for unmanned aerial vehicles,”

Mar. 2019.

Study on enhancement for UAVs

q Use casesØUAV supporting high resolution video live broadcast applicationØUAV on-board Base stationØUAS Commands and Control (C2) communicationØ Simultaneously support data transmission for UAVs and eMBB usersØAutonomous UAVs controlled by AIØ Isolated deployment of radio access through UAVØRadio access through UAVØ Separation of UAV service areaØ Service experience assuranceØ Service availability to UAVs needØ Swarm of UAVs in logisticsØChanging UAV controller Ø Framework for steering KPIs of UA


Mar. 2019.

UAV supporting high resolution video live broadcast application

q DescriptionØThe 4K video can be captured and processed then uploaded to cloud through

3GPP system in real-time

q Potential requirement (4K video cases)ü Round trip latency less than [150 ms], including all network componentsü Reliability• [Near 100%]• To be at the same level for current aviation Air Traffic Control (ATC)

à Link supports command and control (C2) of vehicles in controlled airspace

ü Position accuracy within [10 cm] to avoid damage to property or life in densely populated areas

ü Provide continuous wireless coverage, high speed uplink bandwidth at least[20 Mbps], for a flying UE at low altitude of [10-1000] meters with the high speed as maximum as [300 km/h]


Mar. 2019.

UAV supporting high resolution video live broadcast application

q DescriptionØ 5G UAV VR application white paper (Chinese IMT2020(5G) promotion group)

ü Flying speed of UAV will not be the considering factor

q Performance requirements (VR cases)

15

time VideoResolution

Upload date rate (UL)

Remote control data rate (DL)

Video latency

Control latency

Positioning Accuracy

Altitude Region

20181080 P 6Mbps

300 Kbps 500ms 100ms1m

< 100mCity /Scenic area

4K 25Mbps 1m

20204K 25Mbps

600 Kbps 200ms 20ms0.5m

8K 100Mbps 0.5m

The bold types are the potential new requirements

[9] 3GPP TR 22.829 v1.0, “Technical specification group services and system aspects, study on enhancement for unmanned aerial vehicles,” Mar. 2019.

UAV on-board base station

q DescriptionØDue to ease of deployment, low acquisition and maintenance costs, high-

maneuverability and ability to hoverü To its lower altitude (usually around 100m), the UAV with on-board base station

(i.e. UBS) is more flexible than that of UAS• The TR 38.811 specifies the use of Unmanned Aircraft Systems (UAS) as base station, the

altitude of the so called UAS can be between 8km and 50 km

16

UBS act as base station UBS act as relay

※ UBS : UAV Base Station



q Service flowØAbnormity is detected

ü Operator : continuously monitor the UBS work status, assign another UBSü UEs : attached in the abnormal UBS can seamless handover to the other UBS

17

Service area

Operator

① Decided service area② Figure out all necessary parameter

(geographic area, bandwidth, spectrum, etc.)

③ Send numbers of UBS ④ UBS bootstrap it’s base station functionality, and got authorized by network management system (NMS)

NMS

⑤ Download configuration to the UBS

⑥ Configures accordingly (SIB information, N2/N3 interface), and turns the base station functionality into operation mode

⑦ Does not move, and UE can access to 3GPP network via one UBS

⑧ Fly back home when the end of time period of this temporary coverage, or due to power consumption

③

④

⑤

※ SIB : System Information Block※ N2 : Core network plane※ N3 : User plane



q Potential new requirementsØ The 3GPP system shall enable the authorization of the UBS, before the UBS

can workØ The 3GPP system shall enable a UBS work only at the designated position

ü Once move out of this position, it should not work as UBSØ The 5G system shall be able to supply wireless backhaul with required quality

to enable a UBS


Mar. 2019.

UAS Commands and Control (C2) Communication

q DescriptionØ To avoid the safety risk, when considering 5G network as the transport

networkü Mid-air collision with another UAV, loss of control, intentional misuse, various UAS

user, etc.ØDeployment scenario

ü Model-A (Direct C2)ü Model-B (Indirect C2)• Registered to the 5G network via

different NG-RAN nodes• Reliable routing of C2

ü Model-C (Dual indirect C2)• To ensure service availability and

reliabilityü Model-D (Network-Navigated C2)• Pre-scheduled fly route for autonomous

flying• Navigate the UAV whenever necessary

19

※ UTM : UAS traffic management



20

※ UTM : UAS traffic managementq Service flow

①

① Establish respective sessions for the UAV and UAV controller (UTM and C2 communication for UAS)

② Indicate pre-defined service class or required UAS services, identified by Application ID(s) to the UTM

③ UTM provides required information for C2 communication of the UAS to the 5G network e.g. service classes, or traffic types of the UAS services, required QoS of the authorized UAS services, and subscription of the UAS services

④ Need to create additional C2 communication connection or change the configuration of the existing data connection for the C2, the 5G network modifies or allocates one or more QoS flows for the C2 communication traffics



q Existing requirements [10]Ø The system architecture with ground

radio station (GRS) to repeat the signals for the Remotely Piloted Aircraft System (RPAS) [11]ü RPAS to GRS (downlink)• Telemetry (7,595 bps), NAVAID Display Data

(1,137 bps), ATC Voice (4,800 bps), ATS data (59 bps), Weather (27,770 bps)

ü GRS to RPAS (Uplink)• Telecommand (4,563 bps),

NAVAID setting (666 bps), ATC Voice (4,800 bps), ATS data (49 bps)

[9] 3GPP TR 22.829 v1.0, “Technical specification group services and system aspects, study on enhancement for unmanned aerial vehicles,” Mar. 2019.[10] TRCA, “UAS Command and control (C2) Data Link White Paper,” WP-C2_C2, Mar. 2014.[11] ICAO, Remotely piloted aircraft system (RPAS) concept of operations (CONOPS) for international IFR operations 21

※ NAVAID : Navigational Aid※ ATC : Air Traffic Control※ ATS : Air Traffic Service (enables the identification of aircraft)


q Potential new requirements

22

Traffic type for C2

Bandwidth Latency Description

C2 0.001 MbpsVLOS: TBD

Non-VLOS : TBD

Using C2 communication for delivering the instructions from the UAV controller/UTM to the UAV

Telemetry 0.012 Mbps w/o video 1s Monitoring events reporting

Real-time 0.06 Mbps w/o video 100 ms For telecommands

Video Streaming

4 Mbps for 720p video9 Mbps for 1080p video30 Mbps for 4K video

100 msUsing C2 communication for uploading live video stream from the UAV to the UTM in 3GPP network or UAV controller

Situation Aware report

1 Mbps 10-100 msReporting configured monitoring event(e.g. detected identifiable object, urgent event alarm, etc.)

※ VLOS : Visual LOS


Contents

Introduction



Conclusion

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2

3

4

5G Key technology

24[12] 5G key technology, “https://moniem-tech.com/questions/what-are-the-most-important-5g-technology-keys/”

mmWave: Overview

q System issues in mmWave band communication

[13] mmWave, “https://www.forbes.com/sites/tiriasresearch/2018/07/24/qualcomm-makes-millimeter-wave-a-reality-for-first-gen-5g-phones/#7de2935b4bb6” 25

mmWave: MIMO (Multiple-Input Multiple-Output)

q Challenges ØDue to high altitude and UAV mobility

ü Channel coherence time is reduced• Fast channel estimation or beam training method are required

ü Channel variance lead to channel path changes (path number, path direction)• Effective training and tracking are required

q UAV channel acquisition and precoder designØ Fast channel estimation

ü Reduce the rank number of channel covariance matrix• Reduction of the training and feedback overhead

ü Apply fast Kalman filter• Low complexity and high efficiency

Ø Fast beam trainingü Hierarchical beam training, and pseudo-exhaustive beam trainingü Real-time motion parameters (gyroscope)

26[14] C. Zhang, W. Zhang, W. Wang, L. Yang, and W. Zhang, “Research challenges and opportunities of UAV millimeter-wave communications ,” IEEE Wireless Communication, pp. 58 – 62, Feb. 2019.

Beam tracking with UAV mobility

mmWave: 3D beamforming

q ChallengesØ The large variation range of the elevation angles of UAVs and the dominance of

the LoS UAV-BS channels

q Potential approachØAdaptively designs the antenna beamforming based on the UAV location or even

instantaneous channel state information (CSI)ü Enhance the interference mitigation capability by exploiting the elevation angle

separations of UAVs

27[15] Y. Zeng, J. Lyu, and R. Zhang, “Cellular-connective UAV: potential, challenges, and promising technologies,” IEEE Wireless Communication, pp. 120 –127, Feb. 2019.

Fan-shaped beam (2D beamforming) pencil-shaped beam (3D beamforming)

mmWave: 3D beamforming

q Simulation ResultØ Fixed : Maximum RSRP based on large-scale channel gainØ 3D beamforming : Maximum RSRP with MRT beamforming based on

instantaneous CSI

28[15] Y. Zeng, J. Lyu, and R. Zhang, “Cellular-connective UAV: potential, challenges, and promising technologies,” IEEE Wireless Communication, pp. 120 –127, Feb. 2019.

※RSRP : reference signal received power※MRT : Maximal-ratio transmission

Simulation environment UEs’ sum rate CDF (fixed vs. 3D beamforming)

q Challenges Ø Trade-off

ü Directional transmission vs. limited user access under BDMA• The number of antennas

ü Widened beamwidth vs. increased inter-beam interference

ØAdaptation to UAV network dynamics

q Potential approachØ link-adaptive constellation division multiple access (CoDMA) technique for

UAV-aided 5G ultra-dense networksü Concurrent transmissions within a single beam when increasing number of connected

devices and the demand for high wireless service quality• Beamwidth adaptation

Multiple access mmWave Design

29[16] L. Wang, Y. L. Che, J. Long, L. Duan, and K. Wu, “Multiple access mmWave design for uav-aided 5G communications,” IEEE Wireless Communication, pp. 64 –71, Feb. 2019.

※ BDMA : Beam Division Multiple Access

Multiple access mmWave Design

q MAC layer flexible accessØUser grouping and beamwidth selection within a

Single beamü UAV collects the channel quality indicators (CQI)

during the connections• Current link quality of each user i

ü Each user reports its transmission requirements(TRs) to the UAV

ü Maximize the overall utility for selected n users

• = ∅ + for each user i§ ∅, : Pre-defined weights

• :corresponding weight• : the maximum angle of any two selected users

within the same group (beamwidth)

30[16] L. Wang, Y. L. Che, J. Long, L. Duan, and K. Wu, “Multiple access mmWave design for uav-aided 5G communications,” IEEE Wireless Communication, pp. 64 –71, Feb. 2019.

/( )

Network slicing

q DefinitionØ Logical network that provides specific network capabilities and network

characteristics (SA2 and RAN)ØManaged network slice-subnet instances (NSSIs) with respect to domain

(RAN core) or location (Ottawa, Toronto, etc.) (SA5)ü Shared AMF and SMF, and non shared User plane

31[17] I. B. Yaliniz, M. Salem, G. Senerath, and H. Yanikomeroglu, “Is 5G ready for drones: a look into contemporary and prospective wireless networks from a standardization perspective,” IEEE Wireless Communication, pp. 18 – 27, Feb. 2019.

Interfaces and service-based 5G-core slices

※ SA2 : Architecture※ SA5 : Telecom management

Network slicing

q Slicing procedure

32[17] I. B. Yaliniz, M. Salem, G. Senerath, and H. Yanikomeroglu, “Is 5G ready for drones: a look into contemporary and prospective wireless networks from a standardization perspective,” IEEE Wireless Communication, pp. 18 – 27, Feb. 2019.

A creation of logical networks from infrastructure pools

※ NSSMF : Network Slice Subnet Management Function※ NSSI : Network Slice-subnet Instance※ NSMF : Network Slice Management Function

Network slicing

q PurposeØ Extend a 5G network slice for video monitoring with a Flying Ad-hoc NETwork

(FANET) constituted by UAVs with multi-access edge computing (MEC) facilities (MEC UAVs), flying very close to the layer of UAVs monitoring the area of interest

33[18] C. Grasso, and G. Schembra, “A fleet of MEC UAVs to extend a 5G network slice for video monitoring with low-latency constraints,” Journal of Sensor and Actuator Networks, pp. 1 – 12, Aug. 2019.

Network architecture Architecture of a MEC UAV

UAV: Challenge issues

q Challenges of UAV-based wireless communicationØChannel Model

ü LOS and NLOSØUAV deployment

ü 3D Positioning, Path Planning, Power controlØResource management

ü Tc/Tm Scheduling, Dynamic MAC ProtocolØSecurity mechanism

ü Signal Anti-Jamming, Physical Attack, Control Message Spoofing

[19] Y. Zeng, R. Zhang, T. J. Lim, “Wireless communications with unmanned aerial vehicles: opportunities and challenges,” IEEE Communication Magazine, vol. 54, no. 5, pp. 36 – 42, May. 2016.[20] 김재현, “드론을 활용한 이동통신 네트워크 기술,” http://winner.ajou.ac.kr/publication/data/invited/20180227_UAV.pdf, Mar. 2018. 34

Research Interest (아주대학교 국방특화센터 FNT 24 과제)

q UAV Wireless communication & Tactical Network ØUAV 관련 MAC 프로토콜 개발 연구

ü TDMA 기반, 자가학습 관련 연구Ø차세대 대용량 다중접속 기술 연구(FNT-24)

ü 주파수 효율 극대화 기법 및 대용량 변복조 기술을 통한 차세대 군 통합망 요소기술 개발

35

• UAV 웨이브폼 기술연구

Contents

Introduction



Conclusion

1

2

3

4

Conclusion

[21] 드론 군 활용 사례, ” https://www.youtube.com/watch?v=RNXPbaVy2uE” 37

q LGU+ Smart droneØ 31사단 드론 작전 훈련 (19.04 / LTE)

ü 해상상황 실시간 대응, 해안 수색 정찰• 작전 모니터링 : 전남 광주 31사단 사령부• 작전지역 : 전남 여수시 무슬목 서쪽 1.6km 해상 죽도,

혈도 인근§ 거리 : 120 km

ü 건물 내부 수색, 주둔지 경계, 봉쇄선 내 공중 수색• 폭발물 확인, EO/IR 영상을 활용한 대응력 강화

Ø 5G 적용 시 군 기대효과ü 고용량 이미지 고속 촬영 및 영상 실시간 전송을

통한 대응능력 향상ü 관제 시스템의 인공지능 및 빅데이터 접목

※ EO : Electric Optical※ IR : Infra-Red

Conclusion

q SummaryØ 5G UAV

ü Leveraging 5G mission critical and massive IoT capabilities• Uniform throughput, Serving numerous devices, Ultra-High reliability, Low end-to-end Latency

Ø 5G UAV scenarios and requirementsü UAV on-board Base stationü UAS Commands and Control (C2) communicationü Simultaneously support data transmission for UAVs and eMBB users

Ø 5G UAV key technologyü mmWaveü Multiple accessü 3D beamformingü Network slicingü Challenge Issues

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References[1] 3GPP Release 15 Overview, “https://spectrum.ieee.org/telecom/wireless/3gpp-release-15-overview”

[2] Qualcomm, “Leading the World to 5G: Evolving Cellular technologies for safer drone operation”

[3] Amazon launch drone delivery 2019, https://www.youtube.com/watch?v=dRajlhJOkRo

[4] KT 5G skyship, https://blog.kt.com/937

[5] Unmanned Life, http://unmanned.life/case-study-operators-collaborate-with-industry-partners-to-drive-new-mission-critical-services-globally-using-5g

[6] AI 드론, ”https://www.youtube.com/watch?v=J9qGNZypdyo”

[7] Hawk 30, ”https://futurism.com/the-byte/aerovironment-softbank-5g-drone-uav”

[8] 3GPP List of Work item, “https://www.3gpp.org/DynaReport/WI-List.htm”

[9] 3GPP TR 22.829 v1.0, “Technical specification group services and system aspects, study on enhancement for unmanned aerial vehicles”

[10] TRCA, “UAS Command and control (C2) Data Link White Paper,” WP-C2_C2, March 2014

[11] ICAO, Remotely piloted aircraft system (RPAS) concept of operations (CONOPS) for international IFR operations

[12] 5G key technology, “https://moniem-tech.com/questions/what-are-the-most-important-5g-technology-keys/”

[13] mmWave, “https://www.forbes.com/sites/tiriasresearch/2018/07/24/qualcomm-makes-millimeter-wave-a-reality-for-first-gen-5g-phones/#7de2935b4bb6”

[14] C. Zhang, W. Zhang, W. Wang, L. Yang, and W. Zhang, “Research challenges and opportunities of UAV millimeter-wave communications ,” IEEE Wireless Communication, pp. 58 ? 62, Feb. 2019.

[15] Y. Zeng, J. Lyu, and R. Zhang, “Cellular-connective UAV: potential, challenges, and promising technologies,” IEEE Wireless Communication, pp. 120 - 127, Feb. 2019.

[16] L. Wang, Y. L. Che, J. Long, L. Duan, and K. Wu, “Multiple access mmWave design for uav-aided 5G communications,” IEEE Wireless Communication, pp. 64 - 71, Feb. 2019.

[17] I. B. Yaliniz, M. Salem, G. Senerath, and H Yanikomeroglu, “Is 5G ready for drones: a look into contemporary and prospective wireless networks from a standardization perspective,” IEEE Wireless Communication, pp. 18 - 27, Feb. 2019.

[18] C. Grasso, and G. Schembra, “A fleet of MEC UAVs to extend a 5G network slice for video monitoring with low-latency constraints,” Journal of Sensor and Actuator Networks, pp. 1 - 12, Aug. 2019.

[19] Y. Zeng, R. Zhang, T. J. Lim, “Wireless communications with unmanned aerial vehicles: opportunities and challenges,” IEEE Communication Magazine, vol. 54, no. 5, pp. 36 – 42, May. 2016.

[20] 김재현, “드론을 활용한 이동통신 네트워크 기술,” http://winner.ajou.ac.kr/publication/data/invited/20180227_UAV.pdf, Mar. 2018.

[21] 드론 군 활용 사례, ” https://www.youtube.com/watch?v=RNXPbaVy2uE”

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