Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference

• URL: http://arxiv.org/abs/2603.28467v1
• Date: Mon, 30 Mar 2026 14:05:54 GMT
• Title: Communications-Aware NMPC for Multi-Rotor Aerial Relay Networks Under Jamming Interference
• Abstract summary: "tilt-to-translate" maneuvers can inadvertently align antenna directions with communication partners, causing severe degradation under interference.<n>This paper presents a communications-aware control framework that combines a high-level max-min trajectory generator with an actuator-level Model Predictive Controller.<n>Results show a near two-order-of-magnitude increase in minimum end-to-end capacity, markedly reducing outage events, with moderate average-capacity gains.
• Score: 10.131651799774108
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Multi-Rotor Aerial Vehicles (MRAVs) are increasingly used in communication-dependent missions where connectivity loss directly compromises task execution. Existing anti-jamming strategies often decouple motion from communication, overlooking that link quality depends on vehicle attitude and antenna orientation. In coplanar platforms, "tilt-to-translate" maneuvers can inadvertently align antenna nulls with communication partners, causing severe degradation under interference. This paper presents a modular communications-aware control framework that combines a high-level max-min trajectory generator with an actuator-level Nonlinear Model Predictive Controller (NMPC). The trajectory layer optimizes the weakest link under jamming, while the NMPC enforces vehicle dynamics, actuator limits, and antenna-alignment constraints. Antenna directionality is handled geometrically, avoiding explicit radiation-pattern parametrization. The method is evaluated in a relay scenario with an active jammer and compared across coplanar and tilted-propeller architectures. Results show a near two-order-of-magnitude increase in minimum end-to-end capacity, markedly reducing outage events, with moderate average-capacity gains. Tilted platforms preserve feasibility and link quality, whereas coplanar vehicles show recurrent degradation. These findings indicate that full actuation is a key enabler of reliable communications-aware operation under adversarial directional constraints.

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