drone communication teams

Abstract: Mobility in three-dimensional (3D) cellular networks induces frequent handovers and random sojourn times for aerial users. Analyzing these events is challenging because they jointly depend on user trajectories and random service-boundary geometry. This paper develops a unified geometric--kinematic framework in which service regions form a stationary random tessellation, their boundaries constitute a random closed set, and user motion follows a cruise--turn mobility model. Under the stated stationarity, isotropy, and independence conditions, the handover rate satisfies the exact law \(H=(S_V/2)\bar v\), where \(S_V\) is the specific surface area and \(\bar v\) is the long-run mean speed. The forward boundary-distance distribution provides the local geometric input to an effective-traversal approximation for the mean remaining sojourn time. These results link global and local geometric descriptors to complementary mobility metrics. Combining the handover law with link coverage yields a handover-aware effective spectral efficiency for base station (BS) density selection and service-architecture comparison. We then specialize the framework to Poisson--Voronoi single-BS service and Poisson--Delaunay four-BS coordinated multi-point service; under both models, the handover rate scales as \(λ^{1/3}\bar v\). Numerical results corroborate the exact handover expressions, assess the sojourn-time approximations, and show how user speed and interruption duration affect the preferred density and architecture.

Abstract: Integrated sensing and communications (ISAC) infrastructure can provide an external perception layer for aerial robots, but dynamic blockage makes the set of informative sensing links at the next update uncertain. A single predicted availability pattern can miss low-information outcomes, whereas protecting all patterns wastes power and may become infeasible when all links are blocked. We propose an outage-aware conformal robust power-allocation framework for multi-BS UAV tracking. A history-aware joint predictor maps radar and tracking histories to next-slot availability probabilities, and adaptive prediction sets retain plausible correlated patterns. Tracking constraints are enforced only for retained non-outage patterns, while the all-blocked pattern is treated separately as a physical sensing outage. With per-slot beam directions fixed, the resulting scalar-power allocation is a semidefinite program. A reliability bound relates serviceable-slot tracking failure to deployed-policy miscoverage and optimization infeasibility. Across paired closed-loop simulations over five random seeds, the method attains a 0.01% serviceable-slot constraint-violation rate and uses 47.0% less power than protection over all non-outage patterns.