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Unmanned aerial vehicle (UAV) networks are playing an important role in various areas due to their agility and versatility, which have attracted significant attentions from both the academia and industry in recent years. As an integration of embedded systems with communication devices, computation capabilities and control modules, the UAV network could build a closed loop from data perceiving, information exchanging, decision making to the final execution, which tightly integrates cyber processes into physical devices. Therefore, the UAV network could be considered as a cyber physical system (CPS). Revealing coupling effects among the three interacted CPS components, i.e., communication, computation and control, is envisioned as the key to properly utilize all available resources and hence improve the performance of the UAV network. In this paper, we present a comprehensive survey on UAV networks from a CPS perspective. Firstly, we review the basics and advances of the three CPS components in UAV networks. Then we look inside to investigate how these components contribute to the system performance by classifying UAV networks into three hierarchies, i.e., cell level, system level, and system of system level. Furthermore, the coupling effects among these CPS components are explicitly illustrated, which could be enlightening to deal with the challenges in each individual aspect. New research directions and open issues are discussed at the end of this survey. With this intensive literature review, we intend to provide a novel insight into the state of the art in UAV networks.

Survey on Unmanned Aerial Vehicle Networks: A Cyber Physical System Perspective