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Emergency communication is extremely important to aid rescue and searchoperation in the aftermath of any disaster. In such scenario, Unmanned AerialVehicle (UAV) networks may be used to complement the damaged cellular networksover large areas. However, in such UAV networks, routing is a challenge, owingto high UAV mobility, intermittent link quality between UAVs, dynamic threedimensional (3D) UAV topology and resource constraints. Though several UAVrouting approaches have been proposed, none of them so far have addressed interUAV coverage, collision and routing in an integrated manner. In this paper, weconsider a scenario where network of UAVs, operating at different heights fromground, with inter UAV coverage and collision constraints, are sent on amission to collect disaster surveillance data and route it to Terrestrial BaseStation via multi-hop UAV path. Analytical expressions for coverage probability(Pcov) and collision probability (Pcoll) are derived and minimum (Rmin) andmaximum (Rmax) distance between UAVs are empirically calculated. We thenpropose a novel Multi-hop Opportunistic 3D Routing (MO3DR) algorithm with interUAV coverage and collision constraints such that at every hop expected progressof data packet is maximized. The numerical results obtained from closed formmathematical modelling are validated through extensive simulation and theirtrade-off with variation in network parameters such as path loss component,trajectory divergence etc. are demonstrated. Finally, we obtain empiricaloptimality condition for inter UAV distance for the given applicationrequirement.

Connectivity and Collision Constrained Opportunistic Routing for Emergency Communication using UAV