Table 4.

Other simulation parameters.

Parameter	Value	Unit
Nominal speed of the UAV	40	m/s
Flight altitude h	400	m
Turn rate constraint	(−0.3,0.3)	rad/s
Minimum turning radius	133.3	m
Safe distance between relay UAV	50	m
Nominal speed of the UGV	10	m/s
Scaling factor	10	N/A
Baseline received signal strength	−110	dBm
Weighting factor	1e1	N/A
Weighting factor	2	N/A
Weighting factor	1e5	N/A
Learning coefficient	3	N/A
Learning coefficient	3	N/A
Sampling time	0.5	s
Receding horizon step	5	N/A
Air-to-air channel gain	1e-6	N/A
Path attenuation factor	3	N/A
Ground-to-ground channel gain	1e-6	N/A
Path attenuation factor	5	N/A
Far-field reference distance	200	m
Fraunhofer distance	500	m