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    Genetic Algorithm-Based Unmanned Aerial Vehicle (UAV) Path Planning in Dynamic Environments for Disaster Management
    (Institute of Electrical and Electronics Engineers Inc., 2025) Wijerathne V.R; Theekshana W.G.P; Prabhanga K.G.B.; De Silva K.P.C; Wijayasekara, S; Weerathunga, I; Hansika, M. M.D.J.T
    Unmanned Aerial Vehicles (UAVs) hold immense potential in disaster management by enabling rapid response, real-time aerial reconnaissance, and improved situational awareness without endangering human lives. This research proposes a real-time UAV path-planning system based on a Hierarchical Recursive Multiagent Genetic Algorithm (HR-MAGA). Unlike traditional methods that struggle with adaptability in dynamic 3D environments, our system employs localized waypoint updates to reduce the computational cost of full-path recalculations. A multi-objective fitness function guides the optimization process by balancing safety, energy efficiency, altitude smoothness, turbulence resistance, and travel time. Additionally, the system integrates a decoupled real-time collision avoidance module for immediate response to sudden threats. While obstacle detection is abstracted in this study, the framework is designed to be easily integrated with real-time sensing technologies such as LiDAR for dynamic obstacle awareness. Experimental evaluations show a 20-30% improvement in path efficiency and a 40% increase in convergence speed compared to conventional genetic algorithms, highlighting the system's adaptability and robustness in disaster response scenarios.
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    Dual-Channel OOK (D-COOK) Modulation for UAV-Assisted Mixed THz/VLC Systems
    (Institute of Electrical and Electronics Engineers Inc., 2025-06) Rajahrajasingh, H; Jayakody, D. N.K; Muthuchidambaranathan P; Tsiftsis, T.A
    This paper investigates a dual-hop UAV-assisted communications system that integrates Terahertz (THz) and Visible Light Communication (VLC) over a decode-and-forward (DF) relay that bridges the THz and VLC segments. The VLC channel is modelled to account for additive background noise and deterministic fading, while the THz link is subject to path loss, absorption loss, and pointing errors. A comparative analysis with Free Space Optics (FSO)-VLC and Radio Frequency (RF)-VLC systems highlights the superior performance of the THz-VLC system, especially at high signal-to-noise ratios (SNR), in terms of BER and outage probability. Furthermore, a novel modulation technique is proposed that enables increased data rates. Performance evaluation of the proposed modulation scheme further validates the effectiveness of the system.