Joint THz Communication and 3D Map Reconstruction Using Swarm UAVs for Maximum LoS Coverage

This paper explores the deployment of Unmanned Aerial Vehicles (UAVs) for Terahertz (THz) communication within complex three-dimensional environments, particularly focusing on disaster-stricken areas. Utilizing THz communication's high data rates and the need for direct Line-of-Sight (LoS), our approach involves a dynamic and real-time 3D mapping technique using a swarm of UAVs. Initially devoid of any pre-existing environmental data, the UAVs autonomously establish communication links, allowing them to navigate and map out physical barriers and optimize their flight paths to maximize THz LoS coverage. This paper presents an algorithm that adapts to environmental feedback to iteratively refine UAV positioning and the constructed 3D obstacle map. The contributions encompass multiple aspects: a robust system model accommodating the THz antenna's directional patterns, UAV instabilities, and a sophisticated environmental model that is progressively refined through UAV-user interactions. A deployment of UAVs enhances the LoS coverage, verified through extensive simulations under varying conditions. These simulations demonstrate significant improvements in computational efficiency and the accuracy of 3D environmental mapping, thereby enhancing operational decision-making for UAV networks in real-world scenarios.