KIM, S. ... et al, 2014. Coordinated trajectory planning for efficient communication relay using multiple UAVs. Control Engineering Practice, 29, pp. 42 - 49.
This paper investigates the use of small UAVs as communication relay nodes for expanding communication links and improving communication quality for a fleet of naval vessels. This paper firstly deals with the UAV deployment for stationary communication nodes, and then, proposes a decentralised nonlinear model predictive trajectory planning strategy for a dynamic environment. By exploiting motion estimates of vessels and states of UAVs, the trajectory planning algorithm finds a control input sequence optimising network connectivity over a certain time horizon. Numerical simulations are performed for both stationary and manoeuvring vessels to verify the feasibility and benefit of the proposed approach.