Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV's antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS) and another UAV. We propose a framework to generate feasible trajectories for the multi-rotor UAV relay while considering its motion dynamics and the motion-induced changes of the antenna orientation. The UAV relay's trajectory is optimized to maximize the end-to-end number of bits transmitted. Numerical simulations in MATLAB and Gazebo show the benefits of accounting for the antenna orientation variations due to the UAV tilt.
@article{arxiv.2302.04728,
title = {Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations},
author = {Daniel Bonilla Licea and Giuseppe Silano and Mounir Ghogho and Martin Saska},
journal= {arXiv preprint arXiv:2302.04728},
year = {2023}
}