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The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyondvisual line of sight is expected to open important future opportunities in thearea of transportation, goods delivery, and system monitoring. A key challengein this area lies in the design of trajectories which, while allowing thecompletion of the UAV mission, can guarantee reliable cellular connectivity allalong the path. Previous approaches in this domain have considered simplisticpropagation model assumptions (e.g. Line of Sight based) or more advancedmodels but with computationally demanding optimized solutions. In this paper,we propose a novel approach for trajectory design using a coverage map that canbe obtained with a combination of 3D map of the environment and radiopropagation models. Leveraging on the convexity of sub-regions within thecoverage map, we propose a low-complexity graph based algorithm which is shownto achieve quasi-optimal performance at a fraction of the computational cost ofknown optimal methods.

3D-Map Assisted UAV Trajectory Design Under Cellular Connectivity Constraints