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In this paper, we consider the cellular Internet of unmanned aerial vehicles(UAVs), where UAVs sense data for multiple tasks and transmit the data to thebase station (BS). To quantify the "freshness" of the data at the BS, we bringin the concept of the age of information (AoI). The AoI is determined by thetime for UAV sensing and that for UAV transmission, and gives rise to atrade-off within a given period. To minimize the AoI, we formulate a jointsensing time, transmission time, UAV trajectory, and task schedulingoptimization problem. To solve this problem, we first propose an iterativealgorithm to optimize the sensing time, transmission time, and UAV trajectoryfor completing a specific task. Afterwards, we design the order in which theUAV performs data updates for multiple sensing tasks. The convergence andcomplexity of the proposed algorithm, together with the trade-off between UAVsensing and UAV transmission, are analyzed. Simulation results verify theeffectiveness of our proposed algorithm.

Sensing and Communication Tradeoff Design for AoI Minimization in a Cellular Internet of UAVs