Distributed Path Planning of Unmanned Aerial Vehicle Communication Chain Based on Dual Decomposition

<div>The results of UAV distributed path planning under dual decomposition ant colony algorithm. (a) Planned trajectory results. (b) Curve of the shortest distance between drones.</div>

Wireless Communications and Mobile Computing

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Figure 10

Figure 10: Distributed Path Planning of Unmanned Aerial Vehicle Communication Chain Based on Dual Decomposition 