Maintaining Connectivity of MANETs through Multiple Unmanned Aerial Vehicles

Algorithm 3

Move-Before-Deployment (MBD) 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) compute new positions of existing UAVs using algorithm;

(3) generate a complete graph over ;

(4) compute a minimum spanning tree based on ;

(5)  while true do

(6)  ; // is the set of 1-degree UAVs and is the set of edge connecting vertexes in .

(7)  for each   do

(8)   if    then

(9)    , ;

(10)    end if

(11)   end for

(12)   if    then

(13)    , ;

(14)   else

(15)   break;

(16)   end if

(17) end while

(18) for each edge   do

(19)   if    then

(20)    if    then

(21)    put 1 Steiner points into ;

(22)    else

(23)    put Steiner points into ;

(24)    end if

(25)    ;

(26)   end if

(27) end for

(28) return ;