This paper considers the scenario where the stationary base stations (SBSs) in some disaster areas are destroyed and we deploy flying robot base stations (FR-BSs) to bridge the affected users to cellular network. We propose an optimization model to maximize the quality of coverage. All the FR-BSs and the remote SBSs form a connected graph for communication, and when FR-BSs move, they always keep a safe distance to avoid collision. A coverage maximizing algorithm to find a locally optimal solution is developed, which is run by each FR-BS individually, requires local information only to guide the movement of a FR-BS. We have proved its convergence and demonstrated the performance via computer simulations.
|Title of host publication||2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)|
|Publication status||Published - Dec 2018|