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Optimal Trajectories of a UAV Base Station Using Lagrangian Mechanics

Abstract : This paper considers the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV) Base Station (BS). A map is considered, characterized by a traffic intensity of users to be served. The UAV BS must travel from a given initial location at an initial time to a final position within a given duration and serves the traffic on its way. The problem consists in finding the optimal trajectory that minimizes a certain cost depending on the velocity and on the amount of served traffic. The problem is formulated using the framework of Lagrangian mechanics. When the traffic intensity is quadratic (single-phase), we derive closed-form formulas for the optimal trajectory. When the traffic intensity is bi-phase, necessary conditions of optimality are provided and an Alternating Optimization Algorithm is proposed, that returns a trajectory satisfying these conditions. The Algorithm is initialized with a Model Predictive Control (MPC) online algorithm. Numerical results show how the trajectory is improved with respect to the MPC solution.
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Contributor : Telecomparis Hal <>
Submitted on : Saturday, September 14, 2019 - 6:56:57 PM
Last modification on : Friday, July 31, 2020 - 11:28:08 AM


  • HAL Id : hal-02288564, version 1


Marceau Coupechoux, Jérôme Darbon, Jean-Marc Kélif, Marc Sigelle. Optimal Trajectories of a UAV Base Station Using Lagrangian Mechanics. IEEE International Conference on Computer Communications (INFOCOM), Workshop on Mission-Oriented Wireless Sensor, UAV and Robot Networking (MISARN), Apr 2019, Paris, France. pp.1-6. ⟨hal-02288564⟩



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