{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:30:18Z","timestamp":1762522218191,"version":"build-2065373602"},"reference-count":31,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2018,11,15]],"date-time":"2018-11-15T00:00:00Z","timestamp":1542240000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>With the new advancements in flight control and integrated circuit (IC) technology, unmanned aerial vehicles (UAVs) have been widely used in various applications. One of the typical application scenarios is data collection for large-scale and remote sensor devices in the Internet of things (IoT). However, due to the characteristics of massive connections, access collisions in the MAC layer lead to high power consumption for both sensor devices and UAVs, and low efficiency for the data collection. In this paper, a dynamic speed control algorithm for UAVs (DSC-UAV) is proposed to maximize the data collection efficiency, while alleviating the access congestion for the UAV-based base stations. With a cellular network considered for support of the communication between sensor devices and drones, the connection establishment process was analyzed and modeled in detail. In addition, the data collection efficiency is also defined and derived. Based on the analytical models, optimal speed under different sensor device densities is obtained and verified. UAVs can dynamically adjust the speed according to the sensor device density under their coverages to keep high data collection efficiency. Finally, simulation results are also conducted to verify the accuracy of the proposed analytical models and show that the DSC-UAV outperforms others with the highest data collection efficiency, while maintaining a high successful access probability, low average access delay, low block probability, and low collision probability.<\/jats:p>","DOI":"10.3390\/s18113951","type":"journal-article","created":{"date-parts":[[2018,11,15]],"date-time":"2018-11-15T11:32:47Z","timestamp":1542281567000},"page":"3951","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":33,"title":["Dynamic Speed Control of Unmanned Aerial Vehicles for Data Collection under Internet of Things"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3354-0559","authenticated-orcid":false,"given":"Qi","family":"Pan","sequence":"first","affiliation":[{"name":"School of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100876, China"},{"name":"Beijing Key Laboratory of Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing 100876, China"},{"name":"Beijing Laboratory of Advanced Information Networks, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]},{"given":"Xiangming","family":"Wen","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100876, China"},{"name":"Beijing Key Laboratory of Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing 100876, China"},{"name":"Beijing Laboratory of Advanced Information Networks, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]},{"given":"Zhaoming","family":"Lu","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100876, China"},{"name":"Beijing Key Laboratory of Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing 100876, China"},{"name":"Beijing Laboratory of Advanced Information Networks, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]},{"given":"Linpei","family":"Li","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100876, China"},{"name":"Beijing Key Laboratory of Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing 100876, China"},{"name":"Beijing Laboratory of Advanced Information Networks, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]},{"given":"Wenpeng","family":"Jing","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, Beijing University of Posts and Telecommunication, Beijing 100876, China"},{"name":"Beijing Key Laboratory of Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing 100876, China"},{"name":"Beijing Laboratory of Advanced Information Networks, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,11,15]]},"reference":[{"key":"ref_1","unstructured":"3GPP TR 23.888 V11.0.0 (2012-09) (2018, October 24). System Improvements for Machine Type Communications. Available online: http:\/\/www.qtc.jp\/3GPP\/Specs\/23888-b00.pdf."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"3371","DOI":"10.1109\/TVT.2013.2251832","article-title":"Performance Analysis of Group Paging for Machine-Type Communications in LTE Networks","volume":"62","author":"Wei","year":"2013","journal-title":"Veh. Technol. IEEE Trans."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"174","DOI":"10.1016\/j.biosystemseng.2010.11.010","article-title":"Development of a low-cost agricultural remote sensing system based on an autonomous unmanned aerial vehicle (UAV)","volume":"108","author":"Xiang","year":"2011","journal-title":"Biosyst. Eng."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Mozaffari, M., Saad, W., Bennis, M., and Debbah, M. (2016, January 4\u20138). Mobile Internet of Things: Can UAVs Provide an Energy-Efficient Mobile Architecture?. Proceedings of the 2016 IEEE Global Communications Conference (GLOBECOM), Washington, DC, USA.","DOI":"10.1109\/GLOCOM.2016.7841993"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1109\/MNET.2017.1600280","article-title":"UAV-Assisted Dynamic Coverage in a Heterogeneous Cellular System","volume":"31","author":"Li","year":"2017","journal-title":"IEEE Netw."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Cao, H., Liu, Y., Yue, X., and Zhu, W. (2017). Cloud-Assisted UAV Data Collection for Multiple Emerging Events in Distributed WSNs. Sensors, 17.","DOI":"10.3390\/s17081818"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1109\/MCOM.2016.7470933","article-title":"Wireless Communications with Unmanned Aerial Vehicles: Opportunities and Challenges","volume":"54","author":"Zeng","year":"2016","journal-title":"IEEE Commun. Mag."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Nijsure, Y., Ahmed, M.F.A., Kaddoum, G., Gagnon, G., and Gagnon, F. (2016, January 15\u201318). WSN-UAV Monitoring System with Collaborative Beamforming and ADS-B Based Multilateration. Proceedings of the 2016 IEEE 83rd Vehicular Technology Conference (VTC Spring), Nanjing, China.","DOI":"10.1109\/VTCSpring.2016.7504535"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Carfang, A.J., Frew, E.W., and Kingston, D.B. (2013, January 10\u201312). A cascaded approach to optimize aircraft trajectories for persistent data ferrying. Proceedings of the InAIAA Guidance, Navigation, and Control (GNC) Conference, Delft, The Netherlands.","DOI":"10.2514\/6.2013-4558"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1254","DOI":"10.1016\/j.adhoc.2012.12.004","article-title":"Flying ad-hoc networks (FANETs): A survey","volume":"11","author":"Bekmezci","year":"2013","journal-title":"Ad Hoc Netw."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1109\/LWC.2017.2776922","article-title":"Energy-Efficient Data Collection in UAV Enabled Wireless Sensor Network","volume":"7","author":"Zhan","year":"2017","journal-title":"IEEE Wirel. Commun. Lett."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Chen, J., and Gesbert, D. (2017, January 21\u201325). Optimal Positioning of Flying Relays for Wireless Networks: A LOS Map Approach. Proceedings of the 2017 IEEE International Conference on Communications (ICC), Paris, France.","DOI":"10.1109\/ICC.2017.7996921"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Esrafilian, O., Gangula, R., and Gesbert, D. (arXiv, 2018). Learning to Communicate in UAV-Aided Wireless Networks: Map-Based Approaches, arXiv.","DOI":"10.1109\/JIOT.2018.2879682"},{"key":"ref_14","unstructured":"Becvar, Z., Vondra, M., Mach, P., Plachy, J., and Gesbert, D. (2017, January 17\u201319). Performance of Mobile Networks with UAVs: Can Flying Base Stations Substitute Ultra-Dense Small Cells?. Proceedings of the 23th European Wireless Conference European Wireless 2017, Dresden, Germany."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Gangula, R., de Kerret, P., Esrafilian, O., and Gesbert, D. (November, January 29). Trajectory Optimization for Mobile Access Point. Proceedings of the 2017 51st Asilomar Conference on Signals, Systems, and Computers, Pacific Grove, CA, USA.","DOI":"10.1109\/ACSSC.2017.8335587"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1016\/j.engappai.2015.08.004","article-title":"Application of Reinforcement Learning to Medium Access Control for Wireless Sensor Networks","volume":"46","author":"Chu","year":"2015","journal-title":"Eng. Appl. Artif. Intell."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1109\/MCOM.2016.1600178CM","article-title":"The New Frontier in RAN Heterogeneity: Multi-Tier Drone-Cells","volume":"54","author":"Yanikomeroglu","year":"2016","journal-title":"IEEE Commun. Mag."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1109\/MCOM.2016.7470932","article-title":"Designing and Implementing Future Aerial Communication Networks","volume":"54","author":"Chandrasekharan","year":"2016","journal-title":"IEEE Commun. Mag."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1595","DOI":"10.1109\/ACCESS.2016.2537648","article-title":"Inflight Broadband Connectivity Using Cellular Networks","volume":"4","author":"Tadayon","year":"2016","journal-title":"IEEE Access"},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Zhou, L., Yang, Z., Zhou, S., and Zhang, W. (arXiv, 2018). Coverage Probability Analysis of UAV Cellular Networks in Urban Environments, arXiv.","DOI":"10.1109\/ICCW.2018.8403633"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"384","DOI":"10.1109\/LWC.2017.2779483","article-title":"Strategic Densification with UAV-BSs in Cellular Networks","volume":"7","author":"Lagum","year":"2018","journal-title":"IEEE Wirel. Commun. Lett."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"1666","DOI":"10.1109\/TII.2017.2783439","article-title":"Learning-based Energy-Efficient Data Collection by Unmanned Vehicles in Smart Cities","volume":"14","author":"Zhang","year":"2017","journal-title":"IEEE Trans. Ind. Inform."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"344","DOI":"10.1109\/LCOMM.2017.2772254","article-title":"Joint Altitude and Beamwidth Optimization for UAV-Enabled Multiuser Communications","volume":"22","author":"He","year":"2018","journal-title":"IEEE Commun. Lett."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Zanjie, H., Hiroki, N., Nei, K., Fumie, O., Ryu, M., and Baohua, Z. (2014, January 19\u201321). Resource allocation for data gathering in UAV-aided wireless sensor networks. Proceedings of the 2014 4th IEEE International Conference on Network Infrastructure and Digital Content, Beijing, China.","DOI":"10.1109\/ICNIDC.2014.7000256"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Pang, Y., Zhang, Y., Gu, Y., Pan, M., Han, Z., and Li, P. (2014, January 8\u201312). Efficient data collection for wireless rechargeable sensor clusters in Harsh terrains using UAVs. Proceedings of the 2014 IEEE Global Communications Conference, Austin, TX, USA.","DOI":"10.1109\/GLOCOM.2014.7036813"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1109\/TMC.2009.113","article-title":"Optimal Speed Control of Mobile Node for Data Collection in Sensor Networks","volume":"9","author":"Sugihara","year":"2010","journal-title":"IEEE Trans. Mob. Comput."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Mori, S. (2016, January 23\u201327). Cooperative Sensing Data Collecting Framework by Using Unmanned Aircraft Vehicle in Wireless Sensor Network. Proceedings of the 2016 IEEE International Conference on Communications (ICC), Kuala Lumpur, Malaysia.","DOI":"10.1109\/ICC.2016.7511187"},{"key":"ref_28","unstructured":"Wu, Q., Sun, P., and Boukerche, A. (November, January 28). An Energy-Efficient UAV-Based Data Aggregation Protocol in Wireless Sensor Networks. Proceedings of the 8th ACM Symposium on Design and Analysis of Intelligent Vehicular Networks and Applications, Montreal, QC, Canada."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Hassanpour, B., and Ghasemi, A. (2016, January 3\u20137). Online load estimation for efficient random access of machine type communications in LTE networks. Proceedings of the 2016 24th Iranian Conference on Electrical Engineering (ICEE), Okinawa, Japan.","DOI":"10.1109\/IranianCEE.2016.7585617"},{"key":"ref_30","unstructured":"3GPP TR 37.868 V11.0.0 (2011-09) (2018, October 24). Study on RAN Improvements for Machine-type Communications. Available online: http:\/\/www.qtc.jp\/3GPP\/Specs\/37868-b00.pdf."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"1086","DOI":"10.1109\/JSAC.2016.2520222","article-title":"Group Paging-Based Energy Saving for Massive MTC Accesses in LTE and Beyond Networks","volume":"34","author":"Arouk","year":"2016","journal-title":"IEEE J. Sel. Areas Commun."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/11\/3951\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T15:29:47Z","timestamp":1760196587000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/11\/3951"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,11,15]]},"references-count":31,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2018,11]]}},"alternative-id":["s18113951"],"URL":"https:\/\/doi.org\/10.3390\/s18113951","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2018,11,15]]}}}