{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T12:15:44Z","timestamp":1779884144676,"version":"3.53.1"},"reference-count":53,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2021,4,15]],"date-time":"2021-04-15T00:00:00Z","timestamp":1618444800000},"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>Recently, unmanned aerial vehicles (UAVs) have been applied to various applications. In order to perform repetitive and accurate tasks with a UAV, it is more efficient for the operator to perform the tasks through an integrated management program rather than controlling the UAVs one by one through a controller. In this environment, control packets must be reliably delivered to the UAV to perform missions stably. However, wireless communication is at risk of packet loss or packet delay. Typical network communications can respond to situations in which packets are lost by retransmitting lost packets. However, in the case of UAV control, delay due to retransmission is fatal, so control packet loss and delay should not occur. As UAVs move quickly, there is a high risk of accidents if control packets are lost or delayed. In order to stably control a UAV by transmitting control messages, we propose a control packet transmission scheme, ConClone. ConClone replicates control packets and then transmits them over multiple network connections to increase the probability of successful control packet transmission. We implemented ConClone using real equipment, and we verified its performance through experiments and theoretical analysis.<\/jats:p>","DOI":"10.3390\/s21082791","type":"journal-article","created":{"date-parts":[[2021,4,15]],"date-time":"2021-04-15T21:35:13Z","timestamp":1618522513000},"page":"2791","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["An MPTCP-Based Transmission Scheme for Improving the Control Stability of Unmanned Aerial Vehicles"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0856-6415","authenticated-orcid":false,"given":"Woonghee","family":"Lee","sequence":"first","affiliation":[{"name":"School of Electrical Engineering, Korea University, Seoul 02841, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5273-1257","authenticated-orcid":false,"given":"Joon Yeop","family":"Lee","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Korea University, Seoul 02841, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3753-364X","authenticated-orcid":false,"given":"Hyeontae","family":"Joo","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Korea University, Seoul 02841, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4322-8518","authenticated-orcid":false,"given":"Hwangnam","family":"Kim","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Korea University, Seoul 02841, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,4,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Kwag, Y.K., and Chung, C.H. (2007, January 23\u201327). UAV based collision avoidance radar sensor. Proceedings of the 2007 IEEE International Geoscience and Remote Sensing Symposium, Barcelona, Spain.","DOI":"10.1109\/IGARSS.2007.4422877"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Lee, J.Y., Chung, A.Y., Shim, H., Joe, C., Park, S., and Kim, H. (2019). UAV Flight and Landing Guidance System for Emergency Situations. Sensors, 19.","DOI":"10.3390\/s19204468"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Park, S., La, W.G., Lee, W., and Kim, H. (2020). Devising a Distributed Co-Simulator for a Multi-UAV Network. Sensors, 20.","DOI":"10.3390\/s20216196"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1016\/j.adhoc.2018.09.013","article-title":"Dronemap planner: A service-oriented cloud-based management system for the internet-of-drones","volume":"86","author":"Qureshi","year":"2019","journal-title":"Ad Hoc Netw."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Fleck, M. (2016, January 7\u201312). Usability of lightweight defibrillators for uav delivery. Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, San Jose, CA, USA.","DOI":"10.1145\/2851581.2892288"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Bae, M., Yoo, S., Jung, J., Park, S., Kim, K., Lee, J.Y., and Kim, H. (2018). Devising mobile sensing and actuation infrastructure with drones. Sensors, 18.","DOI":"10.3390\/s18020624"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Vl\u0103du\u021b\u0103, A.V., Bica, I., Patriciu, V.V., and Pop, F. (2017). Reliable data collection for wireless sensor networks using unmanned aerial vehicles. International Conference on Green, Pervasive, and Cloud Computing, Springer.","DOI":"10.1007\/978-3-319-57186-7_25"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Park, S., Kim, K., Kim, H., and Kim, H. (2018). Formation control algorithm of multi-UAV-based network infrastructure. Appl. Sci., 8.","DOI":"10.3390\/app8101740"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Lee, W., Lee, J.Y., Lee, J., Kim, K., Yoo, S., Park, S., and Kim, H. (2018). Ground control system based routing for reliable and efficient multi-drone control system. Appl. Sci., 8.","DOI":"10.3390\/app8112027"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"994","DOI":"10.1109\/LCOMM.2016.2542809","article-title":"TCP and MPTCP retransmission timeout control for networks supporting WLANs","volume":"20","author":"Shin","year":"2016","journal-title":"IEEE Commun. Lett."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"562380","DOI":"10.1155\/2014\/562380","article-title":"Cooperative localization of multi-UAVs via dynamic nonparametric belief propagation under GPS signal loss condition","volume":"10","author":"Wan","year":"2014","journal-title":"Int. J. Distrib. Sens. Netw."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"130","DOI":"10.1109\/MNET.2017.1700206","article-title":"Drone assisted vehicular networks: Architecture, challenges and opportunities","volume":"32","author":"Shi","year":"2018","journal-title":"IEEE Netw."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Ward, S., Hensler, J., Alsalam, B., and Gonzalez, L.F. (2016, January 5\u201312). Autonomous UAVs wildlife detection using thermal imaging, predictive navigation and computer vision. Proceedings of the 2016 IEEE Aerospace Conference, Big Sky, MT, USA.","DOI":"10.1109\/AERO.2016.7500671"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Jung, J., Yoo, S., La, W., Lee, D., Bae, M., and Kim, H. (2018). Avss: Airborne video surveillance system. Sensors, 18.","DOI":"10.3390\/s18061939"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"6","DOI":"10.1145\/382176.382177","article-title":"Rethinking the TCP Nagle algorithm","volume":"31","author":"Mogul","year":"2001","journal-title":"ACM SIGCOMM Comput. Commun. Rev."},{"key":"ref_16","unstructured":"Dudek, D., Kazala, R., and Straczynski, P. (2017, January 15\u201318). Jitter analysis of MQTT protocol frames in mobile robot control system. Proceedings of the 23rd International Conference Engineering Mechanics 2017, Svratka, Czech Republic."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"194","DOI":"10.1016\/j.automatica.2015.06.026","article-title":"Stabilization of networked control systems with both network-induced delay and packet dropout","volume":"59","author":"Tan","year":"2015","journal-title":"Automatica"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1586","DOI":"10.1109\/LWC.2020.2998611","article-title":"Wireless feedback control with variable packet length for industrial IoT","volume":"9","author":"Huang","year":"2020","journal-title":"IEEE Wirel. Commun. Lett."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"92","DOI":"10.1016\/j.isatra.2016.04.015","article-title":"Quantized stabilization of wireless networked control systems with packet losses","volume":"64","author":"Qu","year":"2016","journal-title":"ISA Trans."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Nie, Y., Song, P., Yang, C., Hao, C., and Qie, Y. (2018). Lost Packet Retransmission Mechanism Based on Hardware Acceleration in Wireless Sensor Networks. 2018 2nd International Conference on Applied Mathematics, Modelling and Statistics Application (AMMSA 2018), Atlantis Press.","DOI":"10.2991\/ammsa-18.2018.67"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Abdallah, R., Kouta, R., Sarraf, C., Gaber, J., and Wack, M. (2017, January 20\u201322). Fault tree analysis for the communication of a fleet formation flight of UAVs. Proceedings of the 2017 2nd International Conference on System Reliability and Safety (ICSRS), Milan, Italy.","DOI":"10.1109\/ICSRS.2017.8272821"},{"key":"ref_22","unstructured":"Abdallah, R., Gaber, J., Kouta, R., Sarraf, C., and Wack, M. (2018). Reliability of Data Transmission of UAVs. SSRN Electron. J."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"5609","DOI":"10.1109\/ACCESS.2018.2888518","article-title":"A Switching Approach to Packet Loss Compensation Strategy","volume":"7","author":"Lu","year":"2019","journal-title":"IEEE Access"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Kharchenko, V., Sachenko, A., Kochan, V., and Fesenko, H. (2016, January 5\u20137). Reliability and survivability models of integrated drone-based systems for post emergency monitoring of NPPs. Proceedings of the 2016 International Conference on Information and Digital Technologies (IDT), Rzesz\u00f3w, Poland.","DOI":"10.1109\/DT.2016.7557161"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Kharchenko, V., Fesenko, H., Sachenko, A., Hiromoto, R.E., and Kochan, V. (2017, January 21\u201323). Reliability issues for a multi-version post-severe NPP accident monitoring system. Proceedings of the 2017 9th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), Bucharest, Romania.","DOI":"10.1109\/IDAACS.2017.8095225"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Liu, Y., Zhu, H., Yu, T.T.A., Tsang, K.F., Wu, C.K., and Hung, F.H. (2018, January 21\u201323). Packet Loss Analysis for LoRa-Based Heart Monitoring System. Proceedings of the IECON 2018-44th Annual Conference of the IEEE Industrial Electronics Society, Washington, DC, USA.","DOI":"10.1109\/IECON.2018.8591196"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1109\/LCOMM.2017.2762686","article-title":"Analysis of Average Packet Loss Rate in Multi-Hop Broadcast for VANETs","volume":"22","author":"Lai","year":"2018","journal-title":"IEEE Commun. Lett."},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Sybis, M., Wesolowski, K., Jayasinghe, K., Venkatasubramanian, V., and Vukadinovic, V. (2016, January 18\u201321). Channel coding for ultra-reliable low-latency communication in 5G systems. Proceedings of the 2016 IEEE 84th vehicular technology conference (VTC-Fall), Montr\u00e9al, QC, Canada.","DOI":"10.1109\/VTCFall.2016.7880930"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"154","DOI":"10.1109\/MWC.2017.1600319","article-title":"Rethink hybrid automatic repeat request design for 5G: Five configurable enhancements","volume":"24","author":"Pedersen","year":"2017","journal-title":"IEEE Wirel. Commun."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Sayit, M., Karayer, E., Phung, C.D., Secci, S., and Boumerdassi, S. (2019, January 14\u201316). Numerical evaluation of MPTCP schedulers in terms of throughput and reliability. Proceedings of the 2019 11th International Workshop on Resilient Networks Design and Modeling (RNDM), Nicosia, Cyprus.","DOI":"10.1109\/RNDM48015.2019.8949163"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Mondal, A., Kabbinale, A.R., Shailendra, S., Rath, H.K., and Pal, A. (2018, January 25\u201328). PPoS: A Novel Sub-flow Scheduler and Socket APIs for Multipath TCP (MPTCP). Proceedings of the 2018 Twenty Fourth National Conference on Communications (NCC), Kandi, India.","DOI":"10.1109\/NCC.2018.8600192"},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Rao, A., Visali, M., Shailendra, S., Panigrahi, B., and Simha, A. (2017, January 4\u20138). Reliable robotic communication using multi-path TCP. Proceedings of the 2017 9th International Conference on Communication Systems and Networks (COMSNETS), Bengaluru, India.","DOI":"10.1109\/COMSNETS.2017.7945427"},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Jung, W.S., Yim, J., Ko, Y.B., and Singh, S. (2017, January 28\u201330). ACODS: Adaptive computation offloading for drone surveillance system. Proceedings of the 2017 16th Annual Mediterranean Ad Hoc Networking Workshop (Med-Hoc-Net), Budva, Montenegro.","DOI":"10.1109\/MedHocNet.2017.8001647"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Vu, V.A., and Walker, B. (2019, January 25). Redundant multipath-tcp scheduling with desired packet latency. Proceedings of the 14th Workshop on Challenged Networks, Los Cabos, Mexico.","DOI":"10.1145\/3349625.3355440"},{"key":"ref_35","unstructured":"Peng, G., Sharma, S., and Chiueh, T.c. (, January 20\u201322). A case for network-centric buffer cache organization. Proceedings of the 11th Symposium on High Performance Interconnects, 2003, Proceedings, Stanford, CA, USA."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"5317","DOI":"10.1007\/s11042-016-3821-4","article-title":"Improving quality of multimedia services through network performance isolation in a mobile device","volume":"76","author":"Lee","year":"2017","journal-title":"Multimed. Tools Appl."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Yanmaz, E., Kuschnig, R., and Bettstetter, C. (2013, January 14\u201319). Achieving air-ground communications in 802.11 networks with three-dimensional aerial mobility. Proceedings of the 2013 Proceedings IEEE INFOCOM, Turin, Italy.","DOI":"10.1109\/INFCOM.2013.6566747"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"2410","DOI":"10.1109\/JPROC.2007.907120","article-title":"A unified approach to QoS-guaranteed scheduling for channel-adaptive wireless networks","volume":"95","author":"Wang","year":"2007","journal-title":"Proc. IEEE"},{"key":"ref_39","doi-asserted-by":"crossref","unstructured":"Kuantama, E., Tarca, I., Dzitac, S., Dzitac, I., and Tarca, R. (2018). Flight stability analysis of a symmetrically-structured quadcopter based on thrust data logger information. Symmetry, 10.","DOI":"10.3390\/sym10070291"},{"key":"ref_40","doi-asserted-by":"crossref","unstructured":"Nguyen, N.P., Xuan Mung, N., and Hong, S.K. (2019). Actuator fault detection and fault-tolerant control for hexacopter. Sensors, 19.","DOI":"10.3390\/s19214721"},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Paiva, E., Soto, J., Salinas, J., and Ipanaqu\u00e9, W. (2016, January 19\u201321). Modeling, simulation and implementation of a modified PID controller for stabilizing a quadcopter. Proceedings of the 2016 IEEE International Conference on Automatica (ICA-ACCA), Curic\u00f3, Chile.","DOI":"10.1109\/ICA-ACCA.2016.7778507"},{"key":"ref_42","unstructured":"Gopalakrishnan, E. (2017). Quadcopter Flight Mechanics Model and Control Algorithms, Czech Technical University."},{"key":"ref_43","doi-asserted-by":"crossref","unstructured":"Gomez, V., Gomez, N., Rodas, J., Paiva, E., Saad, M., and Gregor, R. (2020). Pareto Optimal PID Tuning for Px4-Based Unmanned Aerial Vehicles by Using a Multi-Objective Particle Swarm Optimization Algorithm. Aerospace, 7.","DOI":"10.3390\/aerospace7060071"},{"key":"ref_44","unstructured":"Donoghue, J.J. (2017). Reducing Digital Forensic Backlogs Using Single Board Computers. [Ph.D. Thesis, Utica College]."},{"key":"ref_45","doi-asserted-by":"crossref","unstructured":"Kersnovski, T., Gonzalez, F., and Morton, K. (2017, January 4\u201311). A UAV system for autonomous target detection and gas sensing. Proceedings of the 2017 IEEE Aerospace Conference, Big Sky, MT, USA.","DOI":"10.1109\/AERO.2017.7943675"},{"key":"ref_46","doi-asserted-by":"crossref","unstructured":"Tosato, P., Facinelli, D., Prada, M., Gemma, L., Rossi, M., and Brunelli, D. (2019, January 10\u201312). An autonomous swarm of drones for industrial gas sensing applications. Proceedings of the 2019 IEEE 20th International Symposium on \u201cA World of Wireless, Mobile and Multimedia Networks\u201d (WoWMoM), Washington, DC, USA.","DOI":"10.1109\/WoWMoM.2019.8793043"},{"key":"ref_47","doi-asserted-by":"crossref","unstructured":"Facinelli, D., Larcher, M., Brunelli, D., and Fontanelli, D. (2019, January 15\u201319). Cooperative uavs gas monitoring using distributed consensus. Proceedings of the 2019 IEEE 43rd Annual Computer Software and Applications Conference (COMPSAC), Milwaukee, WI, USA.","DOI":"10.1109\/COMPSAC.2019.00072"},{"key":"ref_48","doi-asserted-by":"crossref","unstructured":"Mahdoui, N., Fr\u00e9mont, V., and Natalizio, E. (2019). Communicating Multi-UAV System for cooperative SLAM-based exploration. J. Intell. Robot. Syst., 1\u201319.","DOI":"10.1007\/s10846-019-01062-6"},{"key":"ref_49","doi-asserted-by":"crossref","unstructured":"Shaikh, Z., Baidya, S., and Levorato, M. (2018, January 11\u201313). Robust multi-path communications for UAVs in the urban IoT. Proceedings of the 2018 IEEE International Conference on Sensing, Communication and Networking (SECON Workshops), Hong Kong, China.","DOI":"10.1109\/SECONW.2018.8396356"},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"107451","DOI":"10.1016\/j.comnet.2020.107451","article-title":"A survey on cellular-connected UAVs: Design challenges, enabling 5G\/B5G innovations, and experimental advancements","volume":"182","author":"Mishra","year":"2020","journal-title":"Comput. Netw."},{"key":"ref_51","doi-asserted-by":"crossref","unstructured":"Lim, Y.s., Chen, Y.C., Nahum, E.M., Towsley, D., and Lee, K.W. (May, January 27). Cross-layer path management in multi-path transport protocol for mobile devices. Proceedings of the IEEE INFOCOM 2014-IEEE Conference on Computer Communications, Toronto, ON, Canada.","DOI":"10.1109\/INFOCOM.2014.6848120"},{"key":"ref_52","doi-asserted-by":"crossref","unstructured":"Mishra, G., Shailendra, S., Rath, H.K., and Pal, A. (2019, January 18\u201321). An Analytical Cross Layer Model for Multipath TCP (MPTCP). Proceedings of the 2019 European Conference on Networks and Communications (EuCNC), Valencia, Spain.","DOI":"10.1109\/EuCNC.2019.8802023"},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"2804","DOI":"10.1109\/COMST.2018.2856587","article-title":"A survey of channel modeling for UAV communications","volume":"20","author":"Khuwaja","year":"2018","journal-title":"IEEE Commun. Surv. Tutor."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/8\/2791\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T05:48:27Z","timestamp":1760161707000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/8\/2791"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4,15]]},"references-count":53,"journal-issue":{"issue":"8","published-online":{"date-parts":[[2021,4]]}},"alternative-id":["s21082791"],"URL":"https:\/\/doi.org\/10.3390\/s21082791","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4,15]]}}}