Biological Intelligence Inspired Trajectory Design for Energy Harvesting UAV Networks

. 2023 Jan 11;23(2):863. doi: 10.3390/s23020863

Algorithm 2 Trajectory design for minimizing the average service time

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Input: Optimal served group selection $o^{*}$
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Init: UAV trajectory $e$ , time slot $τ = 0$
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Calculate the service time ${\hat{t}}_{j}$ of each potential served group j
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Rank the service time from small to large
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repeat
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$τ \leftarrow τ + 1$
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Select the next served group $j^{'}$ with the $τ$ -th shortest service time
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$e \leftarrow [e, j^{'}]$
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until $τ = T$
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$e^{*} \leftarrow e$
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Output: Optimal UAV trajectory $e^{*}$ with minimal average user service time