@InProceedings{Messous2020, author = {Mohamed Ayoub Messous and Hellwagner, Hermann and Sidi-Mohammed Senouci and Driton Emini and Dominik Schnieders}, booktitle = {ICC 2020 - 2020 IEEE International Conference on Communications (ICC)}, title = {{Edge Computing for Visual Navigation and Mapping in a UAV Network}}, year = {2020}, month = {jun}, pages = {1--6}, publisher = {IEEE}, abstract = {This research work presents conceptual considerations and quantitative evaluations into how integrating computation offloading to edge computing servers would offer a paradigm shift for an effective deployment of autonomous drones. The specific mission that has been considered is collaborative autonomous navigation and mapping in a 3D environment of a small drone network. Specifically, in order to achieve this mission, each drone is required to compute a low latency, highly compute intensive task in a timely manner. The proposed model decides for each task, while considering the impact on performance and mission requirements, whether to (i) compute locally, (ii) offload to the edge server, or (iii) to the ground station. Extensive simulation work was performed to assess the effectiveness of the proposed scheme compared to other models.}, doi = {10.1109/icc40277.2020.9149087}, keywords = {UAV Network, Edge Computing, Computation Offloading, Visual Navigation and Mapping}, url = {https://ieeexplore.ieee.org/document/9149087} }