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Unmanned aerial vehicle (UAV) based aerial base stations (BSs) can providerapid communication services to ground users and are thus promising for futurecommunication systems. In this paper, we consider a scenario where nofunctional terrestrial BSs are available and the aim is deploying multipleaerial BSs to cover a maximum number of users within a certain target area. Tothis end, we first propose a naive successive deployment method, which convertsthe non-convex constraints in the involved optimization into a combination oflinear constraints through geometrical relaxation. Then we investigate adeployment method based on K-means clustering. The method divides the targetarea into K convex subareas, where within each subarea, a mixed integernon-linear problem (MINLP) is solved. An iterative power efficient technique isfurther proposed to improve coverage probability with reduced power. Finally,we propose a robust technique for compensating the loss of coverage probabilityin the existence of inaccurate user location information (ULI). Our simulationresults show that, the proposed techniques achieve an up to 30% higher coverageprobability when users are not distributed uniformly. In addition, the proposedsimultaneous deployment techniques, especially the one using iterativealgorithm improve power-efficiency by up to 15% compared to the benchmarkcircle packing theory.

Deployment Strategies of Multiple Aerial BSs for User Coverage and Power Efficiency Maximization