  In modern networking research, infrastructure-assisted unmanned autonomous
vehicles (UAVs) are actively considered for real-time learning-based
surveillance and aerial data-delivery under unexpected 3D free mobility and
coordination. In this system model, it is essential to consider the power
limitation in UAVs and autonomous object recognition (for abnormal behavior
detection) deep learning performance in infrastructure/towers. To overcome the
power limitation of UAVs, this paper proposes a novel aerial scheduling
algorithm between multi-UAVs and multi-towers where the towers conduct wireless
power transfer toward UAVs. In addition, to take care of the high-performance
learning model training in towers, we also propose a data delivery scheme which
makes UAVs deliver the training data to the towers fairly to prevent problems
due to data imbalance (e.g., huge computation overhead caused by larger data
delivery or overfitting from less data delivery). Therefore, this paper
proposes a novel workload-aware scheduling algorithm between multi-towers and
multi-UAVs for joint power-charging from towers to their associated UAVs and
training data delivery from UAVs to their associated towers. To compute the
workload-aware optimal scheduling decisions in each unit time, our solution
approach for the given scheduling problem is designed based on Markov decision
process (MDP) to deal with (i) time-varying low-complexity computation and (ii)
pseudo-polynomial optimality. As shown in performance evaluation results, our
proposed algorithm ensures (i) sufficient times for resource exchanges between
towers and UAVs, (ii) the most even and uniform data collection during the
processes compared to the other algorithms, and (iii) the performance of all
towers convergence to optimal levels.
