Maintaining Connectivity of MANETs through Multiple Unmanned Aerial Vehicles

Algorithm 4

Deploy-Across-Movement (DAM) 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 a complete graph over ;

(3)  for each vertex   do

(4)   ; // stores the component number for each node.

(5)  end for

(6) sort all edges in length increasing order;

(7)  for each edge that   do

(8)   if    then

(9)   all nodes in component changes its component to ;

(10)   end if

(11)  end for

(12)  while true do

(13)   , ;

(14)   for each edge that   do

(15)   if    then

(16)    ;

(17)    ;

(18)    ;

(19)    if    then

(20)    , ;

(21)    end if

(22)   end if

(23)  end for

(24)  if    then

(25)  generate new positions of existing UAVs and new added UAVs to connect vertexes in ;

(26)  ;

(27)  else

(28)  break;

(29)  end if

(30)  end while

(31)  return ;