Abstract
In the previous chapters, we considered using a single UAV to assist wireless communication. In the following chapters, we present some approaches to deploying and navigating multiple UAVs for wireless communication. Each UAV carries a battery with limited initial energy and can provide connectivity with a ground user that is within a certain range. When the energy consumption of a UAV depends on its altitude, minimizing the energy consumption and maximizing the number of serviced users are two contradictory goals because to have a larger coverage, a UAV needs to fly higher, which leads to more energy consumption. Thus, there should be a balance between them. A constrained optimization problem accounting for these two objectives is formulated subject to some energy and connectivity constraints. A control system containing an MDM is designed. A decentralized navigation algorithm implemented on UAV is proposed. The algorithm navigates each UAV to a new position in 3D space that contributes more to the coverage. The performance of the proposed approach against some baseline methods is validated by extensive simulations.
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