Privacy-Preserving Routing and Charging Scheduling for Cellular-Connected Unmanned Aerial Vehicles

Cooperation can help unmanned aerial vehicles (UAVs) improve their plans to visit charging stations and avoid congestion, but can be hindered by privacy concerns. We propose a new, privacy preserving, joint routing, and charging scheduling framework which allows multiple cellular-connected UAVs to jointly optimize their routes and charging schedules in a decentralized fashion. The framework allows each UAV to minimize its energy usage and connectivity outage, maximize its recharged energy, ensure its timely arrival, and preserve its privacy concerning its trajectory and destination. The key idea is that we obfuscate probabilistically the destination of each UAV, and design a new noncooperative Bayesian game among the UAVs to find their best routes and charging schedules toward the obfuscated destinations. Another important aspect is that we prove the game is a potential Bayesian game with a pure-strategy Bayesian Nash equilibrium and the best response yielded with the Bellman-Ford algorithm. This new framework preserves the UAVs' privacy in the sense that an UAV only shares the probability of its visit to a charging station at different times, and its best response is based on an obfuscated destination. Simulations demonstrate that the framework ensures timely arrivals with near-optimal routes and substantially lower complexity than a centralized routing scheme based on brute force.