Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference
The research developed a modular control system for Multi-Rotor Aerial Vehicles (MRAVs) to maintain reliable communication during jamming. It combines a high-level trajectory generator that optimizes the weakest link with an actuator-level Nonlinear Model Predictive Controller (NMPC). This approach significantly increases minimum end-to-end capacity, especially on tilted platforms, proving that full actuation is crucial for robust communications under interference.