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Unmanned aerial vehicle (UAV)-enabled communication is a promising technology to extend coverage and enhance throughput for traditional terrestrial wireless communication systems. In this paper, we consider a UAV-enabled wireless sensor network, where a multi-antenna UAV is dispatched to collect data from a group of sensor nodes (SNs). The objective is to maximize the minimum data collection rate from all SNs via jointly optimizing their transmission scheduling and power allocations as well as the trajectory of the UAV, subject to the practical constraints on the maximum transmit power of the SNs and the maximum speed of the UAV. The formulated optimization problem is challenging to solve as it involves non-convex constraints and discrete-value variables. To draw useful insight, we first consider the special case of the formulated problem by ignoring the UAV speed constraint and optimally solve it based on the Lagrange duality method. It is shown that for this relaxed problem, the UAV should hover above a finite number of optimal locations with different durations in general. Next, we address the general case of the formulated problem where the UAV speed constraint is considered and propose a traveling salesman problem-based trajectory initialization, where the UAV sequentially visits the locations obtained in the relaxed problem with minimum flying time. Given this initial trajectory, we then find the corresponding transmission scheduling and power allocations of the SNs and further optimize the UAV trajectory by applying the block coordinate descent and successive convex approximation techniques. Finally, numerical results are provided to illustrate the spectrum and energy efficiency gains of the proposed scheme for multi-antenna UAV data harvesting, as compared to benchmark schemes.
Zhang et al. (2020) studied this question.