This paper considers an emergency communication system controlling multiple unmanned aerial vehicles (UAVs) in the sky over a large-scale disaster-affected area. This system is based on delay-tolerant networking, and information from ground users is relayed by the UAVs through wireless transmission and the movement of UAVs in a store-and-forward manner. Each UAV moves autonomously according to a predetermined flight method, which uses the positions of other UAVs through communication. In this paper, we propose a new method for UAV flight considering the non-uniformity of user distributions. The method is based on the Voronoi cell using the predicted locations of other UAVs. We evaluate the performance of the proposed method through computer simulations with a non-uniform user distribution generated by a general cluster point process. The simulation results demonstrate the effectiveness of the proposed method.

In this paper, a wireless communication network that uses unmanned aerial vehicles (UAVs) in the sky to transmit information between ground users is considered. We highlight a delay-tolerant network, where information is relayed in a store-and-forward fashion by establishing two types of intermittent communication links: between a UAV and a user (UAV-to-user) and between UAVs (UAV-to-UAV). Thus, a flight algorithm that controls the movement of the UAVs is crucial in achieving rapid information transmission. Our study proposes new flight algorithms that simultaneously consider the two types of communication links. In UAV-to-UAV links, the direct information transmission between two UAVs and the indirect transmission through other UAVs are considered separately. The movement of the UAVs is controlled by solving an optimization problem at certain time intervals, with a variable consideration ratio of the two types of links. In addition, we investigate not only the case where all UAVs move cooperatively but also the case where each UAV moves autonomously. Simulation results show that the proposed algorithms are effective. Moreover, they indicate the existence of an optimal consideration ratio of the two types of communication and demonstrate that our approach enables the control of frequencies of establishing the communication links. We conclude that increasing the frequency of indirect communication between UAVs improves network performance.