标题： 集成传感、通信和无人机群体动力学的空中控制 显示英文标题

标题： Integrated Sensing, Communication, and Over-The-Air Control of UAV Swarm Dynamics

摘要： 协调控制大型无人机群需要大量的频谱资源，因为每架无人机都需要带宽分配，这在资源有限的环境中提出了挑战。过空中（OTA）控制作为一种频谱高效的方法应运而生，它利用电磁叠加在基站（BS）形成控制信号。然而，现有的OTA控制器缺乏足够的优化变量来满足无人机群控制目标，并且无法将控制与其他基站功能（如感知）集成。 本文提出了一种用于无人机群的综合感知和OTA控制框架（ISAC-OTA）。基站执行OTA信号的构建（上行）和分派（下行），同时进行物体感知。开发了两种上行后处理方法：一种以控制为中心的方法通过反馈环路OTA控制问题生成解析控制信号，以及一种以感知为中心的方法来减轻传输引起的干扰以实现准确的物体感知。对于下行链路，制定并解决了一个非凸问题，以最小化控制信号分派（传输）错误，同时保持最小的感知信噪比（SNR）。 仿真结果显示，提出的ISAC-OTA控制器在维持高感知精度的情况下实现了与基准最优控制算法相当的控制性能，尽管存在OTA传输干扰。此外，该方法消除了每架无人机需要单独带宽分配的需求，展示了未来无线系统中合作控制的一种频谱高效方法。 显示英文摘要

摘要： Coordinated controlling a large UAV swarm requires significant spectrum resources due to the need for bandwidth allocation per UAV, posing a challenge in resource-limited environments. Over-the-air (OTA) control has emerged as a spectrum-efficient approach, leveraging electromagnetic superposition to form control signals at a base station (BS). However, existing OTA controllers lack sufficient optimization variables to meet UAV swarm control objectives and fail to integrate control with other BS functions like sensing. This work proposes an integrated sensing and OTA control framework (ISAC-OTA) for UAV swarm. The BS performs OTA signal construction (uplink) and dispatch (downlink) while simultaneously sensing objects. Two uplink post-processing methods are developed: a control-centric approach generating closed-form control signals via a feedback-looped OTA control problem, and a sensing-centric method mitigating transmission-induced interference for accurate object sensing. For the downlink, a non-convex problem is formulated and solved to minimize control signal dispatch (transmission) error while maintaining a minimum sensing signal-to-noise ratio (SNR). Simulation results show that the proposed ISAC-OTA controller achieves control performance comparable to the benchmark optimal control algorithm while maintaining high sensing accuracy, despite OTA transmission interference. Moreover, it eliminates the need for per-UAV bandwidth allocation, showcasing a spectrum-efficient method for cooperative control in future wireless systems.