IEEE Consumer Electronics Magazine - January/February 2023 - 47

Figure 1. Sample topology.
may cause an uneven load on path P1 and path
P2, as all the traffic follows path P1, which makes
it overloaded and path P2 becomes idle. The
transmission of packets directly affects the battery
of UAVs; therefore, battery consumption of
the overloaded path (i.e., P1) becomes higher as
compared to the idle path (i.e., P2). A dynamic
and adequate solution is required to find and
redirect traffic to the best optimal path, which
can be robust in determining the network state
and adjusting the flow path to optimize the load.
Due to high dynamics, UAVs can collide with
each other or go in the wrong direction. For
example, UAV6 in Figure 1 starts moving in wrong
direction with its current position at UAV0
6.In
this scenario, UAVs can collide with the ground
or each other. Also, UAVs can go out of range in
swarm-based operations. The collision issue can
be resolved with the help of a flight control mechanism
based on the distance between two nodes
or UAV distance from the ground. Similarly, the
transmission range of neighboring UAVs can be
used if a UAV goes out of range.
SYSTEM OVERVIEW
This section discusses the load balancing
among UAV elements inside the control of its
domain. Each source and destination pair is connected
via multiple paths, as shown in the sample
topology (see Figure 1). The proposed
framework works as a management application
January/February 2023
in the management plane and an integral part of
the controller, as shown in Figure 2. It utilizes
information forwarded by the data plane elements
to find an optimal path for a particular
flow and pushes forwarding rules to UAVs using
the SDN controller. It also uses this information
for the flight control of UAVs. There are various
modules of the proposed approach that are discussed
in the following.
Load Balancing
The load balancing collects the information
from the controller and installs flow rules on forwarding
elements with the help of the following
modules.
Graph generation module (GGM): The GGM
generates the graph G=(V;E), which represents
the topology of the entire domain. It collects the
information (e.g. IP and MAC addresses, and
port connectivity of UAVs) of network devices.
The network state is collected in JSON format
with the help of interfaces. It also retrieves each
UAV's port information, which helps find link
load. Finally, this module generates a graph that
helps to find the shortest paths from source to
destination using Dijkstra's algorithm. These
paths are forwarded to the path selection module
for optimal path selection.
Path selection module: The main objective of
this module is to select the best optimal path for
flow installation. The best optimal path selection
47

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