The communication system is a critical part of the system design for the autonomous UAV. It has to address different considerations, including efficiency, reliability and mobility of the UAV. In addition, a multi-UAV system requires a communication system to assist information sharing, task allocation and collaboration in a team of UAVs. In this paper, we review communication solutions for supporting a team of UAVs while considering an application in the power line inspection industry. We provide a review of candidate wireless communication technologies {for supporting communication in UAV applications. Performance measurements and UAV-related channel modeling of those candidate technologies are reviewed. A discussion of current technologies for building UAV mesh networks is presented. We then analyze the structure, interface and performance of robotic communication middleware, ROS and ROS2. Based on our review, the features and dependencies of candidate solutions in each layer of the communication system are presented.
翻译：通信系统是自动无人驾驶航空器系统设计的关键部分,它必须处理不同考虑因素,包括无人驾驶航空器的效率、可靠性和机动性。此外,多无人驾驶航空器系统需要一个通信系统,以协助无人驾驶航空器团队的信息共享、任务分配和协作。在本文件中,我们审查了支持无人驾驶航空器团队的通信解决方案,同时考虑在电力线检查行业的应用。我们审查了用于支持无人驾驶航空器应用中的通信的候选无线通信技术。审查了这些候选技术的性能测量和无人驾驶航空器相关频道建模。介绍了用于建设无人驾驶航空器网的现有技术。然后,我们分析了机器人通信中器、ROS和ROS2的结构、接口和性能。根据我们的审查,提出了通信系统每一层候选人解决方案的特点和依赖性。
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