Multi-UAV Deployment and Collaborative Offloading for Large-scale IoT Systems

doi:10.16182/j.issn1004731x.joss.24-0636

Abstract

Abstract:

In large-scale internet-of-things (IoT) systems, unmanned aerial vehicles (UAV) enabled mobile edge computing (MEC) can alleviate the performance constraints on end IoT devices. However, due to the uneven distribution of IoT devices and inefficient problem-solving, how to efficiently perform computation offloading in large-scale IoT systems is a major challenge. Existing solutions generally cannot fit into dynamic multi-UAV scenarios, causing inefficient resource utilization and excessive response delay. To address these important challenges, this paper proposes a novel multi-UAV deployment and collaborative offloading (MUCO) method for large-scale IoT systems. A UAV deployment scheme based on constrained K-Means clustering is designed to enhance service coverage while ensuring balanced coverage. A multi-UAV collaborative offloading strategy based on multi-agent reinforcement learning (MARL) is developed to split the offloading requests from IoT devices and conduct distributed execution, thereby realizing efficient collaborative offloading. Extensive simulation experiments validate the effectiveness of the proposed MUCO method. Compared to benchmark methods, the MUCO method can achieve an average improvement of about 23.82% and 28.13% improvement in UAV deployment performance in different scenarios,and can achieve lower latency and energy consumption.

Key words: internet-of-things, mobile edge computing, UAV deployment, computation offloading, K-Means clustering, multi-agent reinforcement learning

CLC Number:

TP393

Huang Zhiqin, Lu Tianying, Chen Zheyi. Multi-UAV Deployment and Collaborative Offloading for Large-scale IoT Systems[J]. Journal of System Simulation, 2025, 37(1): 25-39.

Figures/Tables 12

Fig. 1

Fig. 2

Table 1

Simulation parameters

仿真参数	数值
$D i [t s]$ / Mbit	[4,18] ^[22]
$S i [t s]$ /(cycles/bit)	[400,1 000]
$f u$ / MHz	[1 000, 1 200] ^[23]
$P u$ / mW	[400,600] ^[22]
$P u a v$ / mW	800
$f m a x$ / GHz	20
$B u$ / MHz	0.8
$B u a v$ / MHz	1
$ρ 0$	$- 10 - 5$ ^[24]
$N 0$	$- 2.5 × 10 - 15$ ^[7]
$λ 1$	0.7
$λ 2$	0.3

Table 1

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Table 2

Fig. 10

References 27

1	Zhou Xiaobo, Ge Shuxin, Liu Pengbo, et al. DAG-based Dependent Tasks Offloading in MEC-enabled IoT with Soft Cooperation[J]. IEEE Transactions on Mobile Computing, 2024, 23(6): 6908-6920.
2	Chen Yali, Liu Min, Ai Bo, et al. Adaptive Bitrate Video Caching in UAV-assisted MEC Networks Based on Distributionally Robust Optimization[J]. IEEE Transactions on Mobile Computing, 2024, 23(5): 5245-5259.
3	Bai Zhuoyi, Lin Yifan, Cao Yang, et al. Delay-aware Cooperative Task Offloading for Multi-UAV Enabled Edge-cloud Computing[J]. IEEE Transactions on Mobile Computing, 2024, 23(2): 1034-1049.
4	Lin Na, Fan Yanbo, Zhao Liang, et al. GREEN: A Global Energy Efficiency Maximization Strategy for Multi-UAV Enabled Communication Systems[J]. IEEE Transactions on Mobile Computing, 2023, 22(12): 7104-7120.
5	Elgazzar Khalid, Khalil Haytham, Alghamdi Taghreed, et al. Revisiting the Internet of Things: New Trends, Opportunities and Grand Challenges[J]. Frontiers in the Internet of Things, 2022, 1: 1073780.
6	Hua Meng, Huang Yongming, Wang Yi, et al. Energy Optimization for Cellular-connected Multi-UAV Mobile Edge Computing Systems with Multi-access Schemes[J]. Journal of Communications and Information Networks, 2018, 3(4): 33-44.
7	刘建华, 林柯蒙, 衡振宇, 等. 基于无人机的移动边缘计算任务卸载[J]. 南京邮电大学学报(自然科学版), 2023, 43(2): 36-45.
	Liu Jianhua, Lin Kemeng, Heng Zhenyu, et al. A Task Offloading Scheme of Mobile Edge Computing for UAVs[J]. Journal of Nanjing University of Posts and Telecommunications(Natural Science Edition), 2023, 43(2): 36-45.
8	Wang Liang, Huang Peiqiu, Wang Kezhi, et al. RL-based User Association and Resource Allocation for Multi-UAV Enabled MEC[C]//2019 15th International Wireless Communications & Mobile Computing Conference (IWCMC). Piscataway: IEEE, 2019: 741-746.
9	Yuan Shuai, Zhao Hongbo, Geng Liwei. An Offloading Algorithm Based on Deep Reinforcement Learning for UAV-aided Vehicular Edge Computing Networks[C]//2022 IEEE 9th International Conference on Cyber Security and Cloud Computing (CSCloud)/2022 IEEE 8th International Conference on Edge Computing and Scalable Cloud (EdgeCom). Piscataway: IEEE, 2022: 153-159.
10	Galkin Boris, Kibilda Jacek, DaSilva Luiz A. Deployment of UAV-mounted Access Points According to Spatial User Locations in Two-tier Cellular Networks[C]//2016 Wireless Days (WD). Piscataway: IEEE, 2016: 1-6.
11	Hu Junshi, Zhang Heli, Liu Yiming, et al. An Intelligent UAV Deployment Scheme for Load Balance in Small Cell Networks Using Machine Learning[C]//2019 IEEE Wireless Communications and Networking Conference (WCNC). Piscataway: IEEE, 2019: 1-6.
12	Wang Baoji, Zhang Rongqing, Chen Chen, et al. Density‐aware Deployment with Multi-layer UAV-V2X Communication Networks[J]. IET Communications, 2020, 14(16): 2709-2715.
13	Liu Xiao, Liu Yuanwei, Chen Yue. Reinforcement Learning in Multiple-UAV Networks: Deployment and Movement Design[J]. IEEE Transactions on Vehicular Technology, 2019, 68(8): 8036-8049.
14	Wang Liang, Wang Kezhi, Pan Cunhua, et al. Deep Reinforcement Learning Based Dynamic Trajectory Control for UAV-assisted Mobile Edge Computing[J]. IEEE Transactions on Mobile Computing, 2022, 21(10): 3536-3550.
15	Li Chunlin, Gan Yongzheng, Zhang Yong, et al. A Cooperative Computation Offloading Strategy with On-demand Deployment of Multi-UAVs in UAV-aided Mobile Edge Computing[J]. IEEE Transactions on Network and Service Management, 2024, 21(2): 2095-2110.
16	Hu Qiyu, Cai Yunlong, Yu Guanding, et al. Joint Offloading and Trajectory Design for UAV-enabled Mobile Edge Computing Systems[J]. IEEE Internet of Things Journal, 2019, 6(2): 1879-1892.
17	Kuang Zhufang, Wang Haobin, Li Jie, et al. Utility-aware UAV Deployment and Task Offloading in Multi-UAV Edge Computing Networks[J]. IEEE Internet of Things Journal, 2024, 11(8): 14755-14770.
18	Wei Xianglin, Cai Lingfeng, Wei Nan, et al. Joint UAV Trajectory Planning, DAG Task Scheduling, and Service Function Deployment Based on DRL in UAV-empowered Edge Computing[J]. IEEE Internet of Things Journal, 2023, 10(14): 12826-12838.
19	Zhao Tantan, Li Fan, He Lijun. Secure Video Offloading in Multi-UAV-enabled MEC Networks: A Deep Reinforcement Learning Approach[J]. IEEE Internet of Things Journal, 2024, 11(2): 2950-2963.
20	Wang Heng, Zhang Haijun, Liu Xiangnan, et al. Joint UAV Placement Optimization, Resource Allocation, and Computation Offloading for THz Band: A DRL Approach[J]. IEEE Transactions on Wireless Communications, 2023, 22(7): 4890-4900.
21	Ren Tao, Niu Jianwei, Dai Bin, et al. Enabling Efficient Scheduling in Large-scale UAV-assisted Mobile-edge Computing via Hierarchical Reinforcement Learning[J]. IEEE Internet of Things Journal, 2022, 9(10): 7095-7109.
22	Chai Rong, Li Mingzhu, Yang Tiantian, et al. Dynamic Priority-based Computation Scheduling and Offloading for Interdependent Tasks: Leveraging Parallel Transmission and Execution[J]. IEEE Transactions on Vehicular Technology, 2021, 70(10): 10970-10985.
23	Liu Tong, Fang Lu, Zhu Yanmin, et al. A Near-optimal Approach for Online Task Offloading and Resource Allocation in Edge-cloud Orchestrated Computing[J]. IEEE Transactions on Mobile Computing, 2022, 21(8): 2687-2700.
24	He Haiyun, Zhang Shuowen, Zeng Yong, et al. Joint Altitude and Beamwidth Optimization for UAV-enabled Multiuser Communications[J]. IEEE Communications Letters, 2018, 22(2): 344-347.
25	刘漳辉, 郑鸿强, 张建山, 等. 多无人机使能移动边缘计算系统中的计算卸载与部署优化[J]. 计算机科学, 2022, 49(增1): 619-627.
	Liu Zhanghui, Zheng Hongqiang, Zhang Jianshan, et al. Computation Offloading and Deployment Optimization in Multi-UAV-enabled Mobile Edge Computing Systems[J]. Computer Science, 2022, 49(S1): 619-627.
26	Mourelo Ferrandez S, Harbison T, Weber T, et al. Optimization of a Truck-drone in Tandem Delivery Network Using K-means and Genetic Algorithm[J]. Journal of Industrial Engineering and Management, 2016, 9(2): 374-388.
27	Zhao Wei, Zhong Runhu, Wu Cheng, et al. Delay and Battery Degradation Optimization Based on PPO for Task Offloading in RSU-assisted IoV[C]//2023 IEEE 29th International Conference on Parallel and Distributed Systems (ICPADS). Piscataway: IEEE, 2023: 120-125.

方法	决策时间/ms
MUCO	2.01
PPO	7.99
DDQN	8.00
SA	43.00

[1]	Li Chao, Li Jiabao, Ding Caichang, Ye Zhiwei, Zuo Fangwei. Edge Surveillance Task Offloading and Resource Allocation Algorithm Based on DRL [J]. Journal of System Simulation, 2024, 36(9): 2113-2126.
[2]	Chen Jing, Zhang Zhaochong, Wang Linkai, An Mai, Wang Wei. Short-term Bus Passenger Flow Prediction Based on Convolutional Long-short-term Memory Network [J]. Journal of System Simulation, 2024, 36(2): 476-486.
[3]	Xu Wang, Weidong Ji, Guohui Zhou, Jiahui Yang. Multi-objective Optimization Algorithm Based on Multi-index Elite Individual Game Mechanism [J]. Journal of System Simulation, 2023, 35(3): 494-514.
[4]	Xianwei Zhou, Qixu Gong, Songsen Yu. Computation Offloading Strategy Based on Stackelberg Game and DRL [J]. Journal of System Simulation, 2023, 35(2): 372-385.
[5]	Peng Cheng, Wenzhu Zhang, Shuhan Xie, Zixuan Yang. Research and Simulation of Internet of Vehicles Task Offloading Based on Mobile Edge Computing [J]. Journal of System Simulation, 2022, 34(6): 1304-1311.
[6]	Bin Xu, Wenqing Yan, Zhuofan Han, Guangshen He, Tao Deng, Yunkai Zhao, Jin Qi. Research on Collaborative Computing Offloading Model for Base Station Groups Based on Fireworks Algorithm [J]. Journal of System Simulation, 2022, 34(2): 354-365.
[7]	Changyun Li, Jianbo Li, Xi Xu, Tingli Li. Research on Mobile Edge Computing Resource Allocation with Energy Harvesting Device [J]. Journal of System Simulation, 2022, 34(11): 2313-2322.
[8]	Li Yuan, Geng Zewei. Fault Diagnosis of Industrial Process Based on LLE and K-means Clustering Algorithm [J]. Journal of System Simulation, 2021, 33(9): 2066-2073.
[9]	Su Benyue, Ma Jinyu, Peng Yusheng, Sheng Min. Algorithm for RGBD Point Cloud Denoising and Simplification Based on K-means Clustering [J]. Journal of System Simulation, 2016, 28(10): 2329-2335.
[10]	Zhang Ziying, Zhou Mingquan, Shui Wuyang, Wu Zhongke, Zheng Xia. Color Transfer Based on K-means Clustering Algorithm and Region Matching [J]. Journal of System Simulation, 2015, 27(10): 2359-2364.