IEEE Robotics & Automation Magazine - June 2022 - 18

extended our earlier analysis in [20] and conducted simulations
using Network Simulator 3 (NS-3). Simulation settings
are summarized in Table 2. All moving devices (UAVs and
IoT devices) participate in the service/resource sharing and
trading process in the proposed AI-enabled cooperative UAV
and traditional cooperative UAV schemes. The 5G and Wi-Fi
wireless communication protocols are adapted for device-toBS
and device-to-device communication, respectively. The
proposed AI-enabled cooperative solution enables UAVs to
move toward highly dense IoT device locations to process alltime
connectivity and a faster service hit ratio. The results
attained have provided evidence that adapting an AI-enabled
blockchain-supported cooperative UAV solution significantly
enhances both connectivity and service delivery significantly,
improving a FANET's service provisioning and management
process in addition to its lifetime.
Tests were conducted to evaluate UAV power usage over
time when UAVs act as aerial BSs. By enabling UAVs to cooperate
and predict when and how many BSs are needed to provide
coverage for a set of moving IoT devices, the total
residual energy is maintained over a longer period, as shown
in Figure 4. This will, in essence, lead to higher service availability
in the form of service hit ratio and packet delivery. Figure
5 outlines the delivery success ratio as the number of
devices grows in the serviced area supported by intelligent
UAVs. It is clear that as more devices are available, the AIenabled
cooperative solution will ensure that high delivery
success rates are maintained. Figure 6 depicts the number of
requests that have been successfully delivered to the requester.
The request may be composed of a number of service tasks.
The results show that traditional methods cannot maintain a
high service hit ratio as the number of simultaneous requests
Fog
Edge Node
Private Blockchain
B1
Composite Service
Servicesim_comp(OutS1, OutSn)
Servicesim_comp(OutS1, OutS2)
OutS1
S1
Servicesim_comp(OutS1, InS2)
Service Cluster 1
InS2
S2
OutS2
InSn
Sn
B2
Bn
Service Cluster 4
Figure 3. An illustration of an intelligent private blockchain created from different service capabilities used to compose and deliver
device-specific services.
18 * IEEE ROBOTICS & AUTOMATION MAGAZINE * JUNE 2022
Service Cluster 2
Service Cluster 3
Service Cluster 5
Service Cluster 6

IEEE Robotics & Automation Magazine - June 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2022

Contents
IEEE Robotics & Automation Magazine - June 2022 - Cover1
IEEE Robotics & Automation Magazine - June 2022 - Cover2
IEEE Robotics & Automation Magazine - June 2022 - Contents
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IEEE Robotics & Automation Magazine - June 2022 - Cover3
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