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In this paper, we propose a novel energy-efficient data collection andwireless power transfer (WPT) framework for internet of things (IoT)applications, via a multiple-input multiple-output (MIMO) full-duplex (FD)unmanned aerial vehicle (UAV). To exploit the benefits of UAV-enabled WPT andMIMO FD communications, we allow the MIMO FD UAV charge low-power IoT deviceswhile at the same time collect data from them. With the aim of saving the totalenergy consumed at the UAV, we formulate an energy minimization problem bytaking the FD hardware impairments, the number of uploaded data bits, and theenergy harvesting causality into account. Due to the non-convexity of theproblem in terms of UAV trajectory and transmit beamforming for WPT, trackingthe global optimality is quite challenge. Alternatively, we find a localoptimal point by implementing the proposed iterative search algorithm combiningwith successive convex approximation techniques. Numerical results show thatthe proposed approach can lead to superior performance compared with otherbenchmark schemes with low computational complexity and fast convergence.

Energy-Efficient Data Collection and Wireless Power Transfer Using A MIMO Full-Duplex UAV