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The maintenance of aged city infrastructure is one of the severe monetary and labor-cost-consuming problems. To tackle this problem, we have been investigating sewer pipe inspection using multiple UAVs. In this system, a multi-hop wireless network is established within a sewer pipe using multiple UAVs. The leading UAV, which is equipped with a camera, transmits video data to a control node on the ground via relay UAVs using wireless LAN. In our previous work, we have proposed a packet transmission scheduling method for the multi-hop transmission of both UAV control commands and video data based on Bi-IPT protocol and carried out simulations using a video transmission scenario with dummy data. However, the system performance with real video streaming traffic, especially the subjective video quality, has not been evaluated. In this paper, we evaluate the performance of the proposed system through simulations with a video streaming scenario using real video data. The simulation results revealed that the proposed method achieves low end-to-end delay and low packet loss rate compared with other methods. Also, it is confirmed that the proposed method cam stream video with a higher bit rate than other methods in the same condition.
Nishida et al. (Mon,) studied this question.
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