Investigation of a HAP-UAV Collaboration Scheme for Throughput Maximization via Joint User Association and 3D UAV Placement

. 2023 Jul 2;23(13):6095. doi: 10.3390/s23136095

Algorithm 3 Exhaustive Search Algorithm.

1:
Determine clusters and centroids
2:
Initial 3D UAVs placement( $x_{m}, y_{m}, h_{m}$ ) ← centroids
3:
for $m = 1$ to $M$ do
4:
for $x_{m} \leftarrow [x_{m} - r n g_{e} x_{m} + r n g_{e}], s t e p - x$ do
5:
for $y_{m} \leftarrow [y_{m} - r n g_{e} y_{m} + r n g_{e}], s t e p - y$ do
6:
for $h_{m} \leftarrow [h_{m i n} h_{m a x}], s t e p - h$ do
7:
Calculate the local total throughput in cluster m based on (5) and (8) for the updated 3D coordinates, $x_{m}, y_{m}, h_{m}$ . Save this throughput.
8:
end for
9:
end for
10:
end for
11:
Find maximum of the local total throughput for cluster m
12:
Define 3D coordinates $x_{m}, y_{m}, h_{m}$ corresponding to the maximum local total throughput in cluster m
13:
end for
14:
Optimal UAVs placement is found
15:
Total throughput ← sum (local total throughput)