Joint Trajectory, Sensing, and Computation Co-Design for UAV-Assisted Federated Edge Vision

Abstract

This paper investigates UAV-assisted federated edge vision for training computationally heavy object detection models. Existing studies treat training data as static, ignoring the tight coupling between dynamic visual sensing and massive in place computational burdens. To minimize the expected training time under battery constraints, we propose a four-phase joint trajectory, sensing, and computation co-design. To mitigate data heterogeneity, we use a uniform sensing probability to translate federated convergence requirements into UAV mobility constraints. Furthermore, a two-layer alternating optimization (AO) algorithm is developed to adaptively determine the local data workload, optimally balancing the required training rounds against in-place computation delays. Simulations validate the superiority of our approach in model convergence and accuracy over baselines.