Joint UAVs’ Load Balancing and UEs’ Data Rate Fairness Optimization by Diffusion UAV Deployment Algorithm in Multi-UAV Networks

. 2021 Nov 7;23(11):1470. doi: 10.3390/e23111470

Algorithm 2 Pseudocode for our algorithm

1:
For any $U A V_{i}$ , $U A V_{k}$ ∈ $N_{i}$
2:
Initialize $\vec{F V_{k} [0]} = 0$ , initialize $\vec{F v_{i, k} [0]}$ by (10)
3:
for n > 0 do

UEs upload their data rate information to the serving UAV.
4:
UAV-UAV virtual force

$U A V_{i}$ broadcast its location.

$U A V_{i}$ creates its neighboring UAV set according to the received location.

$U A V_{k}$ shares $\vec{F V_{k} [n - 1]}$ with its neighboring UAVs, (including $U A V_{i}$ ).

$U A V_{i}$ calculates $ψ_{i} [n - 1]$ by (15).

$U A V_{i}$ updates $\vec{F V_{i} [n]}$ by (16).
5:
UAV-UE virtual force

$U A V_{i}$ calculates $\vec{F u_{i, j} [n]}$ , $\vec{F U_{i} [n]}$ by (20), (13), respectively.
6:
Resultant virtual force

$U A V_{i}$ calculate the resultant virtual force by (21).
7:
Motion Control
8:
Calculate the velocity $\vec{v_{i} [n]}$ by (22).
9:
if all $| \vec{v_{i} [n]} |$ < $V_{s t o p}, (i \in [1, M])$
10:
breake
11:
else do
12:
${[x_{i} [n + 1], y_{i} [n + 1]]} = {x_{i} [n], y_{i} [n]} + \vec{v_{i} [n]}$
13:
end if