arXiv subjects

Wannian Liang

Publications and source records attributed to Wannian Liang.

4 recordsLinked to original sources

arXiv2025

Robust Set Partitioning Strategy for Malicious Information Detection in Large-Scale Internet of Things

With the rapid development of the Internet of Things (IoT), the risks of data tampering and malicious information injection have intensified, making efficient threat detection in large-scale distributed sensor networks a pressing challenge. To address the decline in malicious information detection efficiency as network scale expands, this paper investigates a robust set partitioning strategy and, on this basis, develops a distributed attack detection framework with theoretical guarantees. Specifically, we introduce a gain mutual influence metric to characterize the inter-subset interference arising during gain updates, thereby revealing the fundamental reason for the performance gap between distributed and centralized algorithms. Building on this insight, the set partitioning strategy based on Grassmann distance is proposed, which significantly reduces the computational cost of gain updates while maintaining detection performance, and ensures that the distributed setting under subset partitioning preserves the same theoretical performance bound as the baseline algorithm. Unlike conventional clustering methods, the proposed set partitioning strategy leverages the intrinsic observational features of sensors for robust partitioning, thereby enhancing resilience to noise and interference. Simulation results demonstrate that the proposed method limits the performance gap between distributed and centralized detection to no more than 1.648$\%$, while the computational cost decreases at an order of $O(1/m)$ with the number of subsets $m$. Therefore, the proposed algorithm effectively reduces computational overhead while preserving detection accuracy, offering a practical low-cost and highly reliable security detection solution for edge nodes in large-scale IoT systems.

cs.DC↗

arXiv2025

Enhanced Trust Region Sequential Convex Optimization for Multi-Drone Thermal Screening Trajectory Planning in Urban Environments

The rapid detection of abnormal body temperatures in urban populations is essential for managing public health risks, especially during outbreaks of infectious diseases. Multi-drone thermal screening systems offer promising solutions for fast, large-scale, and non-intrusive human temperature monitoring. However, trajectory planning for multiple drones in complex urban environments poses significant challenges, including collision avoidance, coverage efficiency, and constrained flight environments. In this study, we propose an enhanced trust region sequential convex optimization (TR-SCO) algorithm for optimal trajectory planning of multiple drones performing thermal screening tasks. Our improved algorithm integrates a refined convex optimization formulation within a trust region framework, effectively balancing trajectory smoothness, obstacle avoidance, altitude constraints, and maximum screening coverage. Simulation results demonstrate that our approach significantly improves trajectory optimality and computational efficiency compared to conventional convex optimization methods. This research provides critical insights and practical contributions toward deploying efficient multi-drone systems for real-time thermal screening in urban areas. For reader who are interested in our research, we release our source code at https://github.com/Cherry0302/Enhanced-TR-SCO.

cs.RO↗

arXiv2025

UAV-UGV Cooperative Trajectory Optimization and Task Allocation for Medical Rescue Tasks in Post-Disaster Environments

In post-disaster scenarios, rapid and efficient delivery of medical resources is critical and challenging due to severe damage to infrastructure. To provide an optimized solution, we propose a cooperative trajectory optimization and task allocation framework leveraging unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). This study integrates a Genetic Algorithm (GA) for efficient task allocation among multiple UAVs and UGVs, and employs an informed-RRT* (Rapidly-exploring Random Tree Star) algorithm for collision-free trajectory generation. Further optimization of task sequencing and path efficiency is conducted using Covariance Matrix Adaptation Evolution Strategy (CMA-ES). Simulation experiments conducted in a realistic post-disaster environment demonstrate that our proposed approach significantly improves the overall efficiency of medical rescue operations compared to traditional strategies. Specifically, our method reduces the total mission completion time to 26.7 minutes for a 15-task scenario, outperforming K-Means clustering and random allocation by over 73%. Furthermore, the framework achieves a substantial 15.1% reduction in total traveled distance after CMA-ES optimization. The cooperative utilization of UAVs and UGVs effectively balances their complementary advantages, highlighting the system's scalability and practicality for real-world deployment.

cs.RO↗

arXiv2025

Trajectory Optimization for UAV-Based Medical Delivery with Temporal Logic Constraints and Convex Feasible Set Collision Avoidance

This paper addresses the problem of trajectory optimization for unmanned aerial vehicles (UAVs) performing time-sensitive medical deliveries in urban environments. Specifically, we consider a single UAV with 3 degree-of-freedom dynamics tasked with delivering blood packages to multiple hospitals, each with a predefined time window and priority. Mission objectives are encoded using Signal Temporal Logic (STL), enabling the formal specification of spatial-temporal constraints. To ensure safety, city buildings are modeled as 3D convex obstacles, and obstacle avoidance is handled through a Convex Feasible Set (CFS) method. The entire planning problem-combining UAV dynamics, STL satisfaction, and collision avoidance-is formulated as a convex optimization problem that ensures tractability and can be solved efficiently using standard convex programming techniques. Simulation results demonstrate that the proposed method generates dynamically feasible, collision-free trajectories that satisfy temporal mission goals, providing a scalable and reliable approach for autonomous UAV-based medical logistics.

eess.SY↗