# Unmanned Autonomous Intelligent System in 6G Non-Terrestrial Network
## 4 Application of UAV-Aided Non-Terrestrial Networks in UAIS
### Unmanned Ground Vehicle in UAV-Aided NTN Communication  
Unmanned ground vehicles (UGVs) are popular in the research of unmanned autonomous intelligent systems and have a variety of applications, including military operations, anti-terrorism, smart agriculture, logistics, delivery, and mining. UGVs are capable of fulfilling complex tasks such as environment perception, data collection, data transmission, decision making, motion control. However, UGVs are usually compact and have limited computation resources which can restrict their ability to fulfill massive computation tasks due to the size and energy limit of the platform. Therefore, the support of extensive computation resources is crucial for the application of UGVs. Sometimes, UGVs are designed for applications away from cities where there is no network infrastructure. In case of power interruptions caused by natural disasters, UGV communications supported by terrestrial network infrastructures may break down or result in a loss of control, leading to the failure of time-sensitive tasks. To address these challenges and equip UGVs with sufficient communication capabilities for control instructions, real-time data exchange, and computation tasks offloading. Non-terrestrial network platforms, such as airships and unmanned aerial vehicles, can complement the blind sectors of terrestrial base stations to extend network coverage in remote areas.  
Communication  
Currently, there are three primary modes of operating the UGVs: remote-controlled, semi-autonomous, and fully autonomous. The first mode is further divided into visual line of sight (VLOS) and beyond visual-line-of-sight (BVLOS) control, respectively. Although UGVs in the VLOS mode can be controlled using direct wireless links, and semi-autonomous UGVs require higher bandwidth to transmit real-time images and perceptual information. For semi-autonomous UGVs capable of situation awareness, object detection, and navigation, the communication requirements include the following [111]:  
* Communication for uploading work scenarios and updating the knowledge base;
* Remote communication for offloading the local processing tasks of the UGV to the edge server or cloud server;
* Command and control (C2) of UGV, including the transmission of first-person view (FPV) video information and real-time control instructions to the UGV operator or supervisor.  
The communication peak service requirement of UGV above is further calculated using methods derived from the 3 GPP standardization documents [112], as illustrated in Table 3 below.  
As shown in Table 3 above, command and control, offloading processing tasks, and video streaming of the FPV use case require a network with very low delay and high reliability, which is challenging to achieve using conventional communication methods. In satellite communication, propagation delay is relatively high due to the communication distance between the satellite and the ground user, which poses significant challenges to UGV application in NTN scenarios. In the meantime, UAV and LAPS platforms tend to be much more flexible when deployed in challenging terrains, adapting to ground users to provide ultra-reliable and low-latency communication links for