UAV-Enabled Data Collection: Multiple Access, Trajectory Optimization, and Energy Trade-Off

Algorithm 1

Iterative subgradient method for (P3.2).

(1)	Initialize . Let
(2)	repeat
(3)	Obtain the optimal power and from the equations (21) and (22).
(4)	Get the subgradient and for all n
(5)	Update the dual variable according the equation (23) for all n.
(6)	Update .
(7)	Until Converges to a prescribed accuracy.