Considering the threat of enemy detection and interception in the process of UAV flying, UAV ultra-low-altitude flight will be an important penetration method in the flying process. In this paper, aiming at the timeliness, feasibility and optimality of UAV path planning in dynamic environment, it is equivalently treated as a dynamic online path planning problem in the horizontal plane. By embedding the sparse A* search algorithm into the anytime repairing framework. And in the process of iterative improvement of the track, the geometric tangent method, the double ranking criterion and the variable step size strategy are introduced. (Anytime repairing SAS based on geometric method, ARGM-SAS). The Monte Carlo simulation results in the static environment show that the time for the algorithm to generate feasible and optimal trajectories is shorter than that of the standard and SAS based on geometric method. The dynamic simulation results show that the algorithm can quickly generate feasible trajectories and continuously improve the flight trajectories within the specified time. The optimal trajectory can meet the needs of dynamic path planning.

Fast data synchronization in wireless ad hoc networks is a challenging and critical problem. It is fundamental for efficient information fusion, control and decision in distributed systems. Previously, distributed data synchronization was mainly studied in the latency-tolerant distributed databases, or assuming the general model of wireless ad hoc networks. In this paper, we propose a pair of linear network coding (NC) and all-to-all broadcast based fast data synchronization algorithms for wireless ad hoc networks whose topology is under operator's control. We consider both data block selection and transmitting node selection for exploiting the benefits of NC. Instead of using the store-and-forward protocol as in the conventional uncoded approach, a compute-and-forward protocol is used in our scheme, which improves the transmission efficiency. The performance of the proposed algorithms is studied under different values of network size, network connection degree, and per-hop packet error rate. Simulation results demonstrate that our algorithms significantly reduce the times slots used for data synchronization compared with the baseline that does not use NC.

As a special type of mobile ad hoc network (MANET), the flying ad hoc network (FANET) has the potential to enable a variety of emerging applications in both civilian wireless communications (e.g., 5G and 6G) and the defense industry. The routing protocol plays a pivotal role in FANET. However, when designing the routing protocol for FANET, it is conventionally assumed that the aerial nodes move randomly. This is clearly inappropriate for a mission-oriented FANET (MO-FANET), in which the aerial nodes typically move toward a given destination from given departure point(s), possibly along a roughly deterministic flight path while maintaining a well-established formation, in order to carry out certain missions. In this paper, a novel cyber-physical routing protocol exploiting the particular mobility pattern of an MO-FANET is proposed based on cross-disciplinary integration, which makes full use of the mission-determined trajectory dynamics to construct the time sequence of rejoining and separating, as well as the adjacency matrix for each node, as prior information. Compared with the existing representative routing protocols used in FANETs, our protocol achieves a higher packet-delivery ratio (PDR) at the cost of even lower overhead and lower average end-to-end latency, while maintaining a reasonably moderate and stable network jitter, as demonstrated by extensive ns-3-based simulations assuming realistic configurations in an MO-FANET.