# Artificial Intelligence-Based Autonomous UAV Networks: A Survey
### Paper Organization  
The structure and organization of this paper is shown in Figure 1. Section 1 outlines AI-based UAV networks and provides a summary of existing survey of the topic investigated. The main contributions are also highlighted in this section. The background and preliminaries of the proposed survey are provided in Section 2. Autonomous UAV  
\begin{table}
\begin{tabular}{c c c c c} \hline
**Survey Scope** & **AI-Inspired?** & **UAV Features Addressed** & **Limitations** & **Reference** \\ \hline Cooperative UAVs, system deployment & Yes & Coverage, deployment, and nodes used & Obstacles in coverage are not considered & [12] \\ \hline Various UAV & Yes & Topology, mobility, reliability, and energy efficiency & System optimization has not been explored & [13] \\ \hline UAV channel modeling, low altitude & Yes & Channel measurement and characteristics, fading & UAVs in dense urban areas are not explored & [14] \\ \hline UAV-assisted and 5G mm & No & UAV as aerial access, relay, and backhaul & Antenna design, channel modeling, and performance assessment & [15] \\ \hline Routing protocols for UAV networks & No & Topology, position, and cluster-based routings & UAV routing such as link disconnection has not been explored & [10] \\ \hline Integration of UAV and cellular networks & Yes & UAV categorization, standardization, aerial channel modeling, and security & UAV antenna design has not been explored & [17] \\ \hline UAV software-defined network (SDN) and network function virtualization (NFV) & Yes & SDN, NFV, cellular communication, routing, and monitoring & Wireless power transfer has not been addressed & [18] \\ \hline Applications of multiple UAV systems & Yes & Coordination, cooperation, system autonomy & Multiple UAV systems have not been explored & [19] \\ \hline Safety, privacy, and security issues of UAVs & No & Sensor-based attacks, GPS jamming, spoofing, and multi-UAV-based security & UAV privacy and security have not been addressed well & [20] \\ \hline Machine learning for UAV communications & Yes & Channel modeling, positioning, resource management & UAVs for vehicular networks not addressed & [21] \\ \hline UAV-centric machine learning & Yes & Cooperation trajectory planning, channel modeling, mobile-edge computing & Traffic dynamics and channel conditions not explored & [22] \\ \hline UAV prototyping and experiments & No & Cellular UAVs, interference mitigation & Path planning optimization not explored & [23] \\ \hline UAV Channel modeling, link budget & No & Two-ray fast fading, Rician fading, Rayleigh fading & UAV with satellite not explored & [24] \\ \hline \end{tabular}
\end{table}
Table 1: Summary of related surveys.  
networks, communication, computation and control, channel modeling, and interference management are discussed. The autonomous features in UAVs are reviewed in Section 3. Resource management, network planning, multiple access and routing protocols, power control, and energy efficiency are reviewed. Section 4 focuses on security, safety, and privacy management. Physical layer security, safety, and privacy are reviewed. The challenges and open research areas are highlighted Section 5, and a brief conclusion in Section 6 ends the paper.