Modeling and Performance Analysis of Mobile Tethered UAV Networks With Spacial Repulsion
Yujing Zhang, Zhiqun Hu, Xiangming Wen, Zhifei Wang, Zhaoming Lu · IEEE Internet of Things Journal · 2025
Owing to the inherent advantages of high flexibility and strong Line of Sight (LoS) links, as well as the continuous power supply, tethered autonomous aerial vehicle (TUAV) connected to ground charging stations (GCSs) is regarded as a feasible and effective solution to support stable emergency communications. One of the key issues in the TUAV network deployment is to ensure the flight safety considering the potential risk of tether tangling as well as collision along with TUAVs’ movements. In this article, we propose a theoretical method for analyzing mobile TUAV networks with spacial repulsion constrain. Under the nearest association criterion, we apply the Matérn hard-core point process (MHCPP) to derive the steady-state spacial distance distribution between the TUAV and the reference ground user equipment (GUE). In the vertical direction, we assume that all TUAVs dynamically adjust their altitude following a random waypoint (RWP) mobility model. Then, closed-form expressions for the network performance metrics, such as coverage probability and handover probability are presented, jointly considering the path loss model and generalized Nakagami-m fading channels. Our analytical results, validated through Monte Carlo simulations, demonstrate the efficiency and accuracy of the proposed method.