Maintaining Connectivity of MANETs through Multiple Unmanned Aerial Vehicles

Algorithm 5

Existing-UAVs-Chain (EUC) method.

Input:

  // are two 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 minimum spanning tree over ;

(3) get UAV chain from to

(4)  for each UAV   do

(5)  get left node and right node ;

(6)  compute three candidate positions ;

(7)  choose one position with highest priority and satisfy , here ;

(8)  ;

(9)  end for

(10) for each edge in chain   do

(11)  test with and add new UAVs to ;

(12)   ;

(13) end for

(14) return ;