Maintaining Connectivity of MANETs through Multiple Unmanned Aerial Vehicles

Algorithm 2

Deploy-Before-Movement (DBM) algorithm.

Input:

  // is the position of ground nodes, is the position of existing UAVs, is the motion-range of existing UAVs,

   is the communication-range between ground nodes and is the communication-range between ground nodes and UAVs.

Output: // is the new position of existing UAVs and is the position of new added UAVs

(1) Initially: ; ;

(2) generate candidate positions of new UAVs using algorithm;

(3)  ;

(4)  for each pair and   do

(5)   if    then

(6)    ;

(7)   else

(8)    ;

(9)   end if

(10) end for

(11) compute maximum match using ;

(12) for each   do

(13)   if there is a UAV and that   then

(14)    ;

(15)   else

(16)    ;

(17)   end if

(18) end for

(19) return ;