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

This article explores the deployment of uncrewed aerial vehicles (UAVs) for terahertz (THz) communication within complex 3-D 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 3-D mapping technique using a swarm of UAVs. Initially devoid of any preexisting 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 article presents an algorithm that adapts to environmental feedback to iteratively refine UAV positioning and the constructed 3-D 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 3-D environmental mapping, thereby enhancing operational decision-making for UAV networks in real-world scenarios.