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

<div>Voronoi diagram construction results. (a) Voronoi diagram construction results of the original dual generation method. (b) Voronoi diagram construction results of the ant colony dual generation method.</div>

Wireless Communications and Mobile Computing

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Figure 6

Figure 6: Distributed Path Planning of Unmanned Aerial Vehicle Communication Chain Based on Dual Decomposition 