T
E
L
KO
M
NIK
A
, V
ol
.
1
7
,
No.
6
,
Dec
em
be
r
201
9
, p
p.
31
75
~
31
82
IS
S
N: 1
69
3
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93
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accr
ed
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F
irst
Gr
ad
e b
y K
em
en
r
istekdikti,
Decr
ee
No: 2
1/E/
K
P
T
/20
18
DOI:
10.12928/TE
LK
OM
N
IK
A
.v
1
7
i
6
.
13296
◼
31
75
Rec
ei
v
ed
A
pril
11
,
20
1
9
; R
ev
i
s
ed
J
u
l
y
2
, 2
01
9
; A
c
c
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ul
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1
8
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20
1
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Int
erf
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pr
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oc
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:
a com
mu
nica
tio
n g
ui
de
fo
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do
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m
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e
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s
p
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p
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n
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n
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c
a
ti
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whe
n
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m
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a
s
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a
rc
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t
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c
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e
,
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s
ta
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m
a
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c
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d
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p
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p
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e
d
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s
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g
n
a
re
v
a
l
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d
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d
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l
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ti
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r
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n
d
th
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p
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t.
Key
w
ords
:
FANET,
i
n
d
o
o
r s
p
o
rts
c
o
v
e
ra
g
e
,
L
i
-
Fi
,
l
i
n
k
v
e
l
o
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ty
c
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n
e
c
ti
v
i
t
y
a
l
g
o
r
i
th
m
,
UAV
s
warm
Copy
righ
t
©
2
0
1
9
Uni
v
e
rsi
t
a
s
Ahm
a
d
D
a
hl
a
n.
All
rig
ht
s
r
e
s
e
rve
d
.
1.
Int
r
o
d
u
ctio
n
T
he
ter
m
F
A
NE
T
i
s
v
al
i
d
f
or
a
m
ul
ti
-
UA
V
s
y
s
tem
tha
t
f
or
m
s
an
ad
ho
c
ne
t
wor
k
wi
th
ea
c
h
oth
er
[1
].
It
di
f
f
ers
f
r
o
m
oth
er
t
y
pe
s
of
ad
h
oc
n
et
w
ork
s
du
e
to
i
ts
i
n
he
r
e
nt
c
ha
r
ac
ter
i
s
ti
c
s
s
uc
h
as
the
d
y
n
am
i
c
n
a
ture
of
no
d
es
,
top
ol
og
y
c
ha
ng
e
,
an
d
s
pe
e
d
[2
-
4].
S
om
e
o
f
the
a
pp
l
i
c
at
i
on
s
of
F
A
N
E
T
i
n
r
ec
en
t
ti
m
es
are,
bu
t
n
ot
l
i
m
i
ted
to
i
nd
o
or
s
po
r
ts
c
ov
erag
e
a
nd
m
ed
i
a
r
ep
orti
n
g.
T
he
s
e
ap
pl
i
c
ati
on
s
are
on
l
y
ac
hi
e
v
ab
l
e
us
i
ng
a
n
ef
f
i
c
i
en
t
r
ou
ti
n
g
protoc
o
l
.
T
he
ef
f
i
c
i
e
nc
y
of
t
he
r
ou
t
i
n
g
prot
oc
ol
i
s
ba
s
e
d
o
n
the
t
y
p
e
of
c
om
m
un
i
c
ati
on
m
ed
i
um
us
ed
[5
-
9].
T
he
m
os
t
pro
m
i
ne
nt
r
ou
t
i
ng
prot
oc
ol
us
e
d
i
n
the
p
as
t
f
or
F
A
NE
T
i
s
the
s
tan
da
r
d
A
d
h
oc
On
-
Dem
an
d
Di
s
tan
c
e
V
ec
tor
(
A
O
DV
)
.
B
u
t,
as
the
u
s
e
of
F
A
NE
T
i
nc
r
ea
s
es
,
m
od
i
f
i
c
ati
on
to
the
s
ta
nd
ard
A
O
D
V
was
p
r
es
en
ted
b
y
v
ario
us
r
es
ea
r
c
he
r
s
wi
th
a
v
i
e
w
to
ac
h
i
e
v
i
ng
s
ea
m
l
es
s
c
o
m
m
un
i
c
ati
on
f
or
i
nf
orm
a
ti
on
d
i
s
s
em
i
na
ti
o
n.
A
n
ex
am
pl
e
of
s
uc
h
a
protoc
ol
i
s
th
e
F
A
N
E
T
S
pe
c
i
f
i
c
Ro
uti
ng
P
r
oto
c
o
l
(
F
S
RP
)
[6]
.
F
S
R
P
i
s
a
m
od
i
f
i
c
at
i
on
of
the
s
tan
d
ard
A
O
DV
r
o
uti
ng
protoc
ol
f
or
F
l
y
i
ng
Ad
-
hoc
Net
w
ork
(
F
A
NE
T
)
ap
pl
i
c
ati
on
s
on
l
y
.
T
he
no
de
s
i
n
F
A
NE
T
are
UA
V
s
an
d
be
s
t
s
u
i
te
d
wi
th
th
e
F
S
RP
as
pres
en
ted
b
y
t
he
au
t
ho
r
s
i
n
[6
],
wh
i
l
e
the
s
tan
d
ard
A
O
D
V
are
de
s
i
g
ne
d
t
o
be
us
e
d
w
i
t
h
t
he
Mo
bi
l
e
A
d
ho
c
Net
wor
k
(
MA
NE
T
)
.
T
he
na
ture
of
the
top
ol
og
y
of
no
de
s
i
n
F
A
N
E
T
,
ba
nd
wi
dt
h
r
eq
u
i
r
em
en
t,
f
as
t
-
c
ha
ng
i
n
g
na
tur
e
of
the
l
i
nk
a
m
on
gs
t
oth
ers
w
h
i
c
h
are
i
nh
ere
nt
c
ha
r
ac
teri
s
ti
c
s
of
F
A
NE
T
ac
c
ou
nt
ed
f
or
t
he
f
ai
l
ure
of
th
e
A
O
DV
wh
en
a
pp
l
i
e
d
to
F
A
NE
T
.
A
s
s
uc
h,
f
or
F
A
NE
T
c
o
m
m
un
i
c
ati
on
t
o
b
e
ef
f
ec
ti
v
e,
th
e
au
t
ho
r
s
i
n
[6]
d
es
i
g
ne
d
a
r
ou
t
i
ng
prot
oc
ol
tha
t
w
i
l
l
ad
dres
s
th
es
e
F
A
NE
T
i
n
he
r
en
t
c
ha
r
ac
t
eris
ti
c
s
w
i
th
a
v
i
e
w
to
ha
v
i
ng
s
ea
m
l
es
s
an
d
ef
f
i
c
i
en
t
c
o
m
m
un
i
c
ati
on
be
t
wee
n
no
d
es
.
S
i
m
i
l
ar
t
o
th
e
s
tan
da
r
d
A
O
DV
[7
,
10],
F
S
RP
a
l
s
o
has
f
ou
r
t
y
p
es
of
c
on
tr
ol
pa
c
k
ets
w
hi
c
h
ar
e
the
RR
E
Q
,
RRE
P
,
RR
E
R
an
d
H
E
LL
O
.
T
he
s
e c
on
tr
ol
p
ac
k
ets
are m
od
i
f
i
ed
i
n t
he
F
S
RP
to
ad
dres
s
th
e req
ui
r
em
en
t f
or F
A
NE
T
.
O
the
r
au
t
ho
r
s
s
uc
h
as
[
8
,
10
]
h
av
e
a
l
s
o
pres
e
nte
d
wor
k
s
tha
t
de
v
el
o
pe
d
a
F
A
NE
T
r
ou
ti
n
g
prot
oc
ol
i
n
ord
er
to
ad
dres
s
the
s
h
ortc
om
i
ng
s
of
the
A
O
DV
w
h
en
ap
pl
i
ed
to
F
A
NE
T
.
None
t
he
l
es
s
,
the
pe
c
u
l
i
ar
i
t
y
of
the
wor
k
of
[6]
as
c
o
m
pa
r
ed
to
oth
ers
i
s
th
at
t
he
de
v
e
l
o
pe
d
protoc
ol
i
s
F
A
NE
T
s
pe
c
i
f
i
c
an
d
was
de
s
i
gn
e
d
to
u
s
e
l
i
gh
t
f
i
d
el
i
t
y
(
Li
-
F
i
)
as
t
he
m
ed
i
um
o
f
c
o
m
m
un
i
c
ati
on
.
T
hi
s
w
as
be
c
au
s
e
of
th
e
q
ua
l
i
t
i
es
the
L
i
-
F
i
as
a
c
om
m
un
i
c
ati
on
m
ed
i
um
po
s
s
es
s
es
s
uc
h
as
di
r
e
c
ti
on
a
l
i
t
y
t
ha
t
r
e
du
c
es
t
he
r
ou
t
i
n
g
o
v
erhe
ad
,
hi
gh
ba
nd
wi
dt
h
r
eq
ui
r
em
en
t,
s
ec
ur
i
t
y
am
on
gs
t
ot
he
r
s
[1
1
-
16
]
whi
c
h
m
ak
es
up
th
e
c
h
arac
teri
s
t
i
c
s
of
an
ef
f
i
c
i
en
t
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
1
7
,
No
.
6
,
D
ec
em
be
r
2019
:
31
75
-
31
82
3176
F
A
NE
T
.
T
hi
s
i
s
no
t
t
o
s
a
y
tha
t
t
he
prot
oc
ol
c
an
n
ot
f
un
c
ti
on
w
i
t
h
an
o
the
r
c
o
m
m
un
i
c
ati
on
m
ed
i
u
m
[1
7
-
22].
F
A
NE
T
i
n
a
n
i
n
do
or
en
v
i
r
on
m
en
t
f
or
s
po
r
t
a
nd
m
ed
i
a
c
o
v
era
ge
r
eq
u
i
r
es
ef
f
i
c
i
en
t
c
oo
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di
n
ati
on
an
d
c
ol
l
ab
orat
i
on
d
ue
to
i
ts
s
pe
c
i
f
i
c
us
ag
e.
F
or
i
nd
o
or
s
po
r
t
an
d
m
ed
i
a
c
o
v
erag
e,
c
o
m
m
un
i
c
ati
on
b
et
w
e
en
UA
V
no
de
s
i
s
ex
p
ec
ted
t
o
be
g
ov
erned
f
or
ef
f
ec
ti
v
e
i
nf
orm
ati
on
di
s
s
em
i
na
ti
o
n.
T
he
ac
tua
l
s
c
en
ario
of
F
A
NE
T
i
n
an
i
nd
oo
r
e
nv
i
r
on
m
en
t
f
or
m
e
di
a
a
nd
s
po
r
ts
c
ov
erag
e
i
s
t
ha
t
o
ne
of
th
e
n
od
es
on
l
y
h
av
e
the
p
erm
i
s
s
i
on
f
or
i
nf
or
m
ati
on
ac
q
ui
s
i
t
i
on
a
nd
a
l
l
oth
er
no
de
s
c
on
n
ec
t
to
ea
c
h
oth
er
to
s
h
are
the
c
a
ptu
r
ed
i
nf
orm
ati
on
.
In
v
i
e
w
of
thi
s
,
i
nf
orm
ati
on
di
s
s
em
i
na
ti
o
n,
as
w
e
l
l
as
m
ov
e
m
en
t,
s
ho
u
l
d
be
c
oo
r
di
n
ate
d
.
S
i
nc
e
t
he
F
A
N
E
T
s
pe
c
i
f
i
c
r
ou
t
i
ng
protoc
ol
us
es
t
he
L
i
-
F
i
as
a
c
om
m
un
i
c
ati
on
m
ed
i
um
an
d
Li
-
F
i
i
s
a
no
t
he
r
f
orm
o
f
s
op
hi
s
ti
c
ate
d
i
nf
r
ared,
i
t
c
an
al
s
o
b
e
em
pl
o
y
e
d
f
or
U
A
V
c
oo
r
d
i
n
ati
o
n
a
nd
c
ol
l
ab
orati
on
of
no
de
s
.
Ho
w
e
v
er,
i
n
order
to
ac
hi
ev
e
t
hi
s
,
t
he
r
e
i
s
a
ne
ed
f
or
a
n
i
nte
r
f
ac
e
protoc
o
l
d
es
i
g
n
term
ed
Li
nk
V
e
l
oc
i
t
y
Conn
ec
ti
v
i
t
y
A
l
go
r
i
t
hm
(
LV
CA
)
.
It
i
s
a
l
s
o
i
m
po
r
tan
t
to
no
te
tha
t
the
L
V
CA
de
s
i
gn
i
n
t
hi
s
p
ap
er
i
s
no
t
de
s
i
g
ne
d
f
or
F
A
N
E
T
ap
p
l
i
c
at
i
on
s
on
l
y
.
It
c
a
n
b
e
ap
pl
i
ed
to
V
eh
i
c
u
l
ar
Ad
-
hoc
Ne
t
wor
k
(
V
A
N
E
T
)
an
d Un
de
r
W
ate
r
S
en
s
or N
et
w
ork
s
(
U
W
S
N)
.
T
he
r
ef
ore,
the
m
ai
n
o
bj
ec
ti
v
e
of
t
hi
s
pa
pe
r
i
s
t
o
de
s
i
gn
an
i
n
terf
ac
e
prot
oc
ol
th
at
wi
l
l
go
v
ern
c
om
m
un
i
c
ati
on
i
n
i
nd
oo
r
F
A
N
E
T
(
when
U
A
V
m
ov
e
i
n
a
s
w
arm
)
us
i
ng
l
i
gh
t
f
i
de
l
i
t
y
as
a
c
om
m
un
i
c
ati
o
n
m
ed
i
um
.
In
order
to
ac
h
i
e
v
e
th
i
s
ob
j
ec
ti
v
e,
i
ns
i
gh
t
i
nt
o
the
w
or
k
i
ng
prin
c
i
p
l
es
of
the
F
S
RP
i
s
r
eq
ui
r
e
d
a
s
pres
en
ted
i
n
[6]
a
nd
[1
8]
.
A
s
s
uc
h,
the
s
tat
e
tr
a
ns
i
t
i
on
m
od
el
an
d
the
arc
hi
tec
ture
of
the
F
S
RP
th
at
w
i
l
l
be
us
e
d
to
d
e
s
i
gn
th
e
i
n
terf
ac
e
protoc
o
l
are
de
p
i
c
ted
i
n
F
i
gu
r
es
1
an
d 2
.
T
he
s
tat
e
tr
an
s
i
t
i
o
n
m
od
el
i
s
a
be
tte
r
w
a
y
t
o
u
nd
ers
tan
d
a
prot
oc
ol
at
a
l
o
w
l
ev
e
l
of
ab
s
tr
ac
ti
o
n.
T
hi
s
i
s
pres
en
t
ed
i
n
oth
er
to
ai
d
th
e
f
utu
r
e
i
m
pl
em
en
tat
i
on
of
the
de
s
i
gn
on
a
F
i
e
l
d
P
r
og
r
am
m
ab
l
e
G
at
e
A
r
r
a
y
(
F
P
G
A
)
.
T
he
r
em
ai
ni
n
g
a
s
pe
c
t
of
th
e
p
ap
er
is
org
an
i
z
ed
as
f
ol
l
o
w
s
:
s
ec
ti
on
2
pres
en
ts
th
e
de
s
c
r
i
pti
on
of
the
ex
i
s
ti
n
g
F
S
R
P
.
T
he
de
s
c
r
i
pti
o
n
of
the
i
nte
r
f
ac
e
protoc
ol
f
or
the
F
A
N
E
T
an
d
l
i
g
ht
f
i
d
el
i
t
y
as
a
c
om
m
un
i
c
ati
on
m
ed
i
um
i
s
pres
en
ted
i
n
s
ec
t
i
on
3.
S
ec
t
i
on
4
pres
en
ts
th
e
L
V
C
A
A
l
g
orit
hm
.
S
ec
ti
on
5
pres
e
nts
a
di
s
c
us
s
i
on
of
the
r
es
ul
t
ob
ta
i
ne
d.
T
he
c
on
c
l
us
i
o
n d
r
a
wn f
r
om
th
e res
ul
ts
i
s
pres
e
nte
d i
n
s
ec
ti
on
6.
F
i
gu
r
e
1.
S
tat
e t
r
an
s
i
ti
on
m
od
e
l
of
th
e FS
R
P
F
i
gu
r
e
2.
A
r
c
hi
tec
t
ure of
th
e FS
R
P
2.
F
S
R
P
D
es
c
r
ipt
ion
In
F
S
R
P
,
th
e
no
d
es
are
c
ate
go
r
i
z
e
d
as
th
e
c
l
i
e
nt
or
the
s
erv
er
tha
t
ac
ts
as
ei
th
er
the
s
o
urc
e
n
od
e
,
i
nte
r
m
ed
i
at
e
no
d
e
or
th
e
d
es
ti
na
t
i
on
no
de
.
T
he
H
E
LL
O
c
o
ntrol
pa
c
k
et
i
s
us
ua
l
l
y
f
l
oo
d
ed
on
the
n
et
w
ork
w
h
en
the
s
erv
er
ne
ed
s
to
s
e
nd
a
c
ap
tur
ed
p
ac
k
et
to
a
d
es
ti
n
ati
on
[23
-
25
].
T
he
RREQ
i
n
th
e
F
S
RP
i
s
m
o
di
f
i
ed
w
i
th
the
s
en
de
r
’
s
po
s
i
ti
o
n,
v
e
l
oc
i
t
y
an
d
c
ap
t
ured
da
ta
s
i
z
e.
F
o
r
ea
c
h
of
the
“
HE
L
LO
RRE
Q
”
m
es
s
ag
e
r
ec
ei
v
e
d,
th
e
de
s
ti
n
ati
on
I
P
,
po
s
i
t
i
on
an
d
v
e
l
oc
i
t
y
are
r
ec
orded
i
n
t
he
r
ou
t
i
ng
ta
bl
e.
B
as
ed
o
n
t
hi
s
i
n
f
orm
ati
on
,
the
s
erv
er
de
term
i
ne
s
the
i
nt
erm
ed
i
ate
p
ee
r
s
.
It
c
om
m
un
i
c
ate
s
an
RR
E
P
m
es
s
ag
e
b
y
c
on
ne
c
ti
ng
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Int
erfac
e
protoc
o
l
d
es
i
g
n:
a
c
om
mu
ni
c
at
i
o
n g
u
i
d
e f
or
i
n
do
or F
A
NE
T
(
B.
O
.
S
ad
i
q
)
3177
the
i
m
m
ed
i
ate
pe
ers
us
i
n
g
the
r
ec
e
i
v
ed
ne
i
gh
b
or
U
A
V
i
nf
orm
ati
on
.
T
hi
s
prev
en
ts
l
i
nk
break
ag
e
an
d
r
o
ute
.
Ho
wev
er,
an
RRER
m
es
s
ag
e
w
i
l
l
be
tr
i
gg
ered
i
f
th
e
d
es
ti
n
ati
on
IP
a
dd
r
es
s
es
are un
r
e
ac
ha
b
l
e.
T
he
F
S
RP
i
s
a
d
ata
an
d
t
i
m
ed
c
on
tr
ol
l
e
d
r
o
uti
ng
prot
oc
ol
t
ha
t
de
pe
n
ds
on
th
e
s
i
z
e
of
the
c
ap
tur
ed
da
ta
an
d
th
e
v
e
l
oc
i
t
y
of
the
no
de
s
t
o
es
tab
l
i
s
h
a
c
on
ne
c
ti
on
f
or
i
nf
or
m
ati
on
s
ha
r
i
ng
.
I
t
us
es
t
w
o
t
y
pe
s
of
m
e
m
ory
whi
c
h
are
t
he
c
ac
he
f
or
the
r
ou
ti
ng
u
pd
at
e
s
an
d
the
m
ai
n
m
e
m
o
r
y
f
or
s
tori
n
g
th
e
c
ap
tured
da
ta
c
on
te
nt
t
o
b
e
ex
c
ha
ng
e
d.
T
he
pro
toc
ol
de
s
i
gn
i
ntrod
uc
ed
a
m
i
ni
m
u
m
s
ep
arati
on
di
s
t
an
c
e
d
mi
n
whi
c
h
i
s
th
e
i
ni
ti
a
l
s
ep
arati
on
di
s
ta
nc
e
b
et
ween
no
d
es
an
d
s
ho
ul
d
be
m
ai
nta
i
ne
d
thr
ou
gh
ou
t
the
op
erati
on
t
i
m
e
of
th
e
U
A
V
.
T
hi
s
i
s
o
n
e
of
the
m
os
t
i
m
po
r
tan
t
p
aram
ete
r
s
tha
t
c
on
s
ti
t
ute
th
e
f
orm
ul
ati
o
n
of
t
he
i
n
terf
ac
e
prot
oc
ol
.
T
he
L
i
-
F
i
tr
an
s
c
ei
v
er
c
i
r
c
ui
tr
y
i
s
the
c
o
m
m
un
i
c
ati
on
m
ed
i
um
f
o
r
al
l
proc
es
s
es
to
oc
c
ur.
T
he
s
i
m
ul
ati
o
n
pa
r
am
ete
r
s
us
ed
to
s
i
m
ul
at
e
th
e
F
S
R
P
i
s
pr
es
e
nte
d
i
n
T
ab
l
e
1
.
T
he
s
e
p
aram
ete
r
s
wi
l
l
b
e
us
e
d
i
n
s
i
m
ul
at
i
ng
the
F
S
R
P
wi
th
th
e
de
v
e
l
o
pe
d
L
V
CA
al
go
r
i
thm
wi
th
a
v
i
e
w
to
be
nc
hm
ar
k
i
ng
i
ts
i
m
prov
em
en
ts
ag
ai
ns
t
the
c
on
v
en
t
i
on
al
F
S
R
P
.
T
ab
l
e 1
.
F
S
R
P
S
i
m
ul
ati
o
n
P
aram
ete
r
s
S
i
m
u
la
t
ion
P
a
r
a
m
e
t
e
r
V
a
lue
s
N
u
m
b
e
r
o
f
U
A
V
s
3
S
i
m
u
la
t
ion
f
li
g
h
t
a
r
e
a
1
0
0
x
1
0
0
m
2
Total
s
i
m
u
lat
ion
t
i
me
3
6
0
s
e
c
s
S
p
e
e
d
o
f
U
A
V
s
2
0
m/
s
S
iz
e
o
f
d
a
t
a
c
a
p
t
u
r
e
t
o
e
s
t
a
b
l
is
h
a
c
o
n
n
e
c
t
ion
5
M
B
Ti
m
e
in
a
n
id
le
p
o
s
it
ion
6
0
s
e
c
s
Tr
a
n
s
p
o
r
t
p
r
o
t
o
c
o
l
UDP
3.
Int
er
f
a
ce
P
r
o
t
o
col
Desi
g
n
:
T
h
e LV
C
A
T
he
LV
CA
d
ev
el
o
p
i
n
t
hi
s
pa
pe
r
go
v
erns
th
e
c
om
m
un
i
c
ati
on
be
t
ween
t
he
F
S
RP
protoc
ol
a
nd
th
e
tr
an
s
c
ei
v
e
r
c
i
r
c
ui
t
as
wel
l
as
r
e
du
c
i
n
g
the
i
m
pa
c
t
of
l
i
nk
f
ai
l
ure
du
e
to
t
he
c
r
as
h
of
r
an
do
m
l
y
m
ov
i
ng
no
d
e
s
to
the
ba
r
es
t
m
i
ni
m
u
m
.
T
he
r
eb
y
,
f
un
c
ti
on
i
n
g
as
an
i
nt
erv
eh
i
c
l
e
c
o
m
m
un
i
c
ati
on
s
y
s
tem
as
de
p
i
c
ted
i
n
F
i
gu
r
e
3.
F
i
gu
r
e
3
s
ho
w
s
t
he
b
l
oc
k
di
ag
r
a
m
of
the
LV
C
A
.
Due
to
th
i
s
f
ac
t,
th
e
LV
C
A
i
s
f
un
c
t
i
on
i
ng
as
an
i
nte
r
v
eh
i
c
l
e
c
om
m
un
i
c
ati
o
n
s
y
s
t
em
,
the
L
V
C
A
m
a
k
e
s
us
e
of
an
ac
c
e
l
erat
i
on
an
d
de
c
e
l
era
ti
o
n
m
od
el
as
s
oc
i
ate
d
wi
th
a
s
p
ee
d
c
h
an
g
i
ng
c
y
c
l
es
whi
c
h
are:
-
S
tart: U
A
V
s
be
gi
ns
a m
ov
e
m
en
t
-
S
top
: U
A
V
s
i
n a
s
t
ati
c
p
os
i
t
i
on
-
S
l
o
w do
wn:
UA
V
s
i
n
m
oti
on
de
c
r
ea
s
e s
pe
e
d
-
S
pe
ed
u
p:
U
A
V
s
i
n m
oti
on
i
nc
r
ea
s
e s
pe
e
d
-
Chan
ge
d
i
r
ec
ti
on
: r
ota
t
e c
l
o
c
k
w
i
s
e
or ant
i
c
l
oc
k
w
i
s
e
F
i
gu
r
e
3.
L
V
C
A
b
l
oc
k
di
ag
r
am
In
order
to
ac
h
i
e
v
e
th
i
s
,
t
he
i
n
i
ti
al
s
pe
ed
s
an
d
f
i
na
l
s
pe
ed
s
du
r
i
ng
ac
c
el
erati
o
n
an
d
de
c
el
erati
on
are
t
he
k
e
y
i
n
f
or
m
ati
on
r
eq
ui
r
ed
b
y
the
L
V
CA
.
T
hi
s
is
ex
pe
c
ted
to
b
e
s
up
pl
i
e
d
b
y
the
on
bo
ard
v
e
l
oc
i
t
y
s
en
s
o
r
s
.
In
the
LV
C
A
,
the
ef
f
ec
t
of
m
ov
e
m
en
t
of
the
no
de
s
i
s
de
pe
n
de
nt
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
1
7
,
No
.
6
,
D
ec
em
be
r
2019
:
31
75
-
31
82
3178
on
th
e
di
s
t
an
c
e
b
et
w
e
en
the
n
ei
g
hb
or
no
d
e
(
nj
)
an
d
no
d
e
(
ni
)
.
T
o
r
ea
l
i
z
e
t
hi
s
,
a
di
s
ta
nc
e
s
en
s
i
ti
v
i
t
y
f
un
c
ti
on
(
ds
f
)
i
s
i
ntrodu
c
e
d.
T
he
di
s
tan
c
e
s
en
s
i
t
i
v
i
t
y
f
un
c
t
i
on
(
β
)
c
on
tr
ol
s
the
v
e
l
oc
i
t
y
c
ha
ng
e
b
y
n
av
i
ga
ti
n
g
be
t
ween
th
e
s
pe
e
d
c
ha
ng
i
n
g
c
y
c
l
es
(
s
top
pi
n
g,
i
nc
r
ea
s
i
ng
or
r
ed
uc
i
ng
s
pe
ed
s
)
.
T
he
r
ef
ore,
β
i
s
th
e
pro
du
c
t
of
a
tr
i
gg
er
f
un
c
t
i
on
de
no
t
ed
as
α
an
d
c
h
a
ng
e
i
n
t
i
m
e
as
pres
en
te
d i
n t
h
e f
ol
l
o
w
i
ng
e
x
pres
s
i
on
:
=
∗
Δ
(
1)
where
β
i
s
t
he
di
s
ta
nc
e s
en
s
i
ti
v
i
t
y
f
un
c
ti
on
a
nd
α
i
s
th
e
tr
i
gg
er f
un
c
t
i
on
.
T
hi
s
s
pe
ed
c
h
an
gi
n
g
c
y
c
l
e
i
s
on
l
y
ac
h
i
e
v
a
bl
e
i
f
a
nd
on
l
y
i
f
1.
T
he
c
ha
r
ac
teri
s
t
i
c
s
o
f
the
LV
CA
are
as
de
pi
c
te
d
i
n
F
i
g
ure
4.
T
he
ex
pres
s
i
o
ns
r
eq
ui
r
ed
t
o
c
al
c
ul
ate
th
e
di
s
tan
c
e
a
nd
v
e
l
oc
i
t
y
be
t
ween
th
e
no
d
e
s
are
pres
en
te
d
i
n
[6
,
10
]
.
T
he
r
ef
ore,
the
d
ec
a
y
v
el
oc
i
t
y
c
an
be
ge
ne
r
ate
d
us
i
n
g:
1
=
(
1
−
)
(
2)
where
:
1
i
s
th
e d
ec
a
y
e
d
v
e
l
o
c
i
t
y
; t
hi
s
i
s
s
ati
s
f
i
ed
i
f
<
1
i
s
th
e
ac
tua
l
v
e
l
oc
i
t
y
i
n
whi
c
h t
he
U
A
V
s
are m
ov
i
n
g
i
s
th
e
di
s
t
an
c
e s
en
s
i
ti
v
i
t
y
f
un
c
ti
o
n.
Ho
w
e
v
er,
i
n
th
i
s
pa
p
er,
the
di
s
tan
c
e
s
e
ns
i
t
i
v
i
t
y
f
un
c
t
i
on
w
as
s
et
t
o
0.5
s
o
t
ha
t
t
he
de
c
a
y
v
e
l
oc
i
t
y
wi
l
l
b
e
1
0m
/s
an
d
the
ac
tua
l
v
e
l
oc
i
t
y
of
2
0
m
/
s
.
T
he
i
ni
t
i
al
s
ep
ara
ti
o
n
di
s
ta
nc
e
(
d
mi
n
)
as
pres
en
te
d
i
n
[
1]
c
an
b
e
s
ati
s
f
i
ed
at
t
he
i
ni
ti
a
l
d
ep
l
o
y
m
en
t
of
the
no
de
s
o
n
the
n
et
w
ork
.
T
he
s
m
al
l
er
the
di
s
tan
c
e
s
en
s
i
t
i
v
i
t
y
f
un
c
ti
on
,
th
e
l
o
ng
er
i
t
wi
l
l
tak
e
to
att
ai
n
a
v
e
l
oc
i
t
y
c
l
os
e
to
z
ero.
H
en
c
e,
f
or
the
c
on
c
e
pt
to
be
de
v
e
l
op
ed
c
om
pl
e
tel
y
,
i
t
i
s
ne
c
es
s
ar
y
t
ha
t
th
e
as
s
um
pti
on
of
the
i
nf
orm
ati
on
ab
o
ut
t
he
c
o
nf
i
ne
d
are
a
i
n
w
h
i
c
h
the
U
A
V
s
are
i
n
o
pe
r
at
i
o
n
are
a
l
r
ea
d
y
ob
ta
i
ne
d
us
i
n
g
t
he
G
P
S
,
o
nb
oa
r
d
v
e
l
oc
i
t
y
an
d
d
i
s
pl
ac
em
en
t
es
ti
m
ato
r
s
.
T
he
r
ef
or
e,
t
he
po
s
i
t
i
o
n
of
tw
o
U
A
V
s
i
n
t
he
c
on
f
i
n
ed
area
ar
e
(
x
1,
y
1
)
an
d
(
x
2,
y
2
)
,
m
ov
i
ng
a
t
s
pe
e
ds
V
1
an
d
V
2
i
n
1
and
2
di
r
ec
t
i
on
s
.
F
i
gu
r
e
4.
L
V
C
A
c
ha
r
ac
t
eris
ti
c
s
3.1.
L
V
C
A
O
p
e
r
atio
n
S
eq
u
ence
T
he
s
eq
ue
nc
e
of
th
e L
V
C
A
i
s
pres
en
t
ed
as
f
ol
l
o
w
s
:
a.
Inputs
:
d
i
s
tan
c
e,
s
pe
ed
,
a
nd
po
s
i
t
i
o
n
/
/
t
hi
s
is
the
r
e
qu
i
r
e
d
i
n
pu
t
th
at
i
s
f
ed
i
nt
o
t
he
LV
CA
.
T
he
up
da
tes
of
th
e
s
p
ee
d
an
d
po
s
i
t
i
o
n
ar
e
ex
p
ec
ted
t
o
be
r
ec
ei
v
ed
b
y
th
e
o
nb
o
ard
s
en
s
ors
an
d t
he
di
s
ta
nc
e b
e
t
w
e
en
t
he
U
A
V
s
are
es
ti
m
ate
d a
s
pres
en
te
d i
n (3)
:
(
,
)
=
√
(
2
−
1
)
2
+
(
2
−
1
)
2
+
(
2
−
1
)
2
(
3
)
w
he
r
e
D(
x
,
y
)
i
s
th
e d
i
s
tan
c
e b
et
wee
n t
w
o
no
de
s
a
nd
x
,
y
,
z
are
the
c
o
ordi
na
t
es
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NIK
A
IS
S
N: 1
69
3
-
6
93
0
◼
Int
erfac
e
protoc
o
l
d
es
i
g
n:
a
c
om
mu
ni
c
at
i
o
n g
u
i
d
e f
or
i
n
do
or F
A
NE
T
(
B.
O
.
S
ad
i
q
)
3179
b.
Com
pu
ted
D
i
s
tan
c
e
:
T
he
di
s
t
an
c
e
be
i
ng
c
om
pu
ted
i
s
us
ed
f
or
three
s
pe
c
i
al
c
as
es
,
whi
c
h
are:
-
UA
V
s
top
s
.
-
UA
V
m
oti
on
: (a
)
i
nc
r
ea
s
e
i
n
s
pe
ed
an
d
(
b
)
the
de
c
r
ea
s
e i
n
s
pe
e
d.
-
Di
r
ec
ti
o
n c
ha
nge
.
T
he
i
nc
r
ea
s
e
a
nd
de
c
r
ea
s
e
i
n
s
p
ee
d
are
us
ed
to
en
s
ur
e
tha
t
th
e
d
i
s
tan
c
e
be
t
w
ee
n
the
no
de
s
is
greate
r
t
ha
n
d
mi
n
as
pres
en
t
ed
i
n t
h
e l
og
i
c
di
ag
r
am
i
n Fi
gu
r
e 5
.
F
i
gu
r
e
5.
L
og
i
c
di
ag
r
am
of
t
he
L
V
C
A
3.2.
L
V
C
A
A
lgo
r
it
h
m
a.
If
c
ap
tured
da
t
a
m
atc
he
s
m
ov
em
en
t
v
el
oc
i
t
y
,
s
t
ore
al
l
es
ti
m
ate
d
v
al
ue
s
ob
t
ai
n
ed
us
i
n
g
the
o
nb
oa
r
d
s
e
ns
ors
i
n
the
c
ac
he
.
E
l
s
e,
ac
ti
v
a
te
s
p
e
ed
c
ha
ng
i
ng
c
y
c
l
e
an
d
r
ed
uc
e
c
urr
en
t
v
e
l
oc
i
t
y
t
o t
h
e d
ec
a
y
e
d
v
el
oc
i
t
y
c
om
pu
ted
us
i
ng
(
2)
.
b.
If
(
,
)
=
m
in
a
war
ni
ng
m
es
s
ag
e
s
ho
u
l
d
be
i
s
s
ue
d
whi
c
h
i
s
d
i
s
pl
a
y
e
d
as
a
m
es
s
ag
e,
thu
s
c
o
m
pu
t
i
n
g
the
d
ec
a
y
e
d
v
e
l
oc
i
t
y
us
i
ng
(
2).
T
he
UA
V
s
ho
u
l
d
r
ed
uc
e
s
pe
e
d
or
tur
n
b
y
π
/2
i
f
ap
pro
ac
hi
n
g
a
t
a
n
a
ng
l
e
of
90
0
w
h
i
l
s
t
ex
c
ha
n
gi
n
g
i
nf
orm
ati
on
.
T
hi
s
i
s
be
c
au
s
e
the
L
V
C
A
i
s
c
o
n
s
i
de
r
i
ng
on
l
y
pe
r
pe
nd
i
c
ul
ar i
n
ters
ec
ti
o
ns
.
c.
If
(
,
)
<
m
in
be
t
ween
t
wo
or
m
ore
UA
V
s
,
c
om
pu
te
the
de
c
a
y
e
d
v
e
l
oc
i
t
y
us
i
ng
(
2).
T
he
UA
V
s
h
ou
l
d red
uc
e s
p
ee
d
whi
l
s
t i
nf
or
m
ati
on
i
s
ex
c
ha
ng
e
d.
d.
If
(
,
)
≥
m
in
ex
c
ha
n
ge
i
nf
orm
ati
on
w
i
t
ho
ut
ac
ti
v
at
i
ng
th
e
s
pe
e
d c
ha
ng
i
n
g c
y
c
l
e.
e.
G
oto
(
1) to
r
ep
e
at
th
e c
y
c
l
e
.
f.
T
he
LV
C
A
w
as
s
i
m
ul
ate
d
wi
th
th
e
F
S
R
P
r
o
uti
ng
prot
oc
ol
i
n
th
e
NS
3
as
an
a
dd
i
ti
on
al
s
c
r
i
pt
w
r
i
tte
n
f
or the
r
ou
ti
ng
pro
to
c
ol
.
4.
Re
sult
and
Di
sc
u
ss
ion
s
T
he
s
i
m
ul
ati
on
p
aram
ete
r
s
us
ed
are
pres
en
ted
i
n
T
a
bl
e
1.
D
urin
g
the
s
i
m
ul
ati
o
n
ti
m
e,
a
tot
a
l
of
11
90
pa
c
k
ets
w
e
r
e
s
en
t
an
d
1
15
2
p
ac
k
ets
wer
e
r
ec
ei
v
ed
,
whi
c
h
am
ou
nts
to
96
.
81
%
pa
c
k
et
de
l
i
v
er
y
r
at
i
o
as
d
ep
i
c
te
d
i
n
F
i
g
ure
6.
In
t
he
s
i
m
ul
ati
on
of
the
F
S
R
P
a
l
o
n
e,
th
e
tot
al
pa
c
k
ets
s
en
t
o
v
er
ti
m
e
w
er
e
1
19
0
p
ac
k
ets
an
d
11
4
4
pa
c
k
ets
w
ere
r
ec
e
i
v
ed
.
T
hi
s
am
ou
nte
d
to
96
.1
3% p
ac
k
et
de
l
i
v
er
y
r
at
i
o a
s
de
pi
c
te
d i
n Fi
gu
r
e
7.
Evaluation Warning : The document was created with Spire.PDF for Python.
◼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
M
NIK
A
V
ol
.
1
7
,
No
.
6
,
D
ec
em
be
r
2019
:
31
75
-
31
82
3180
F
i
gu
r
e
6
.
O
ut
pu
t
r
es
u
l
t
of
s
i
m
ul
ati
ng
t
he
F
S
RP
w
i
t
h t
h
e
de
v
el
op
e
d L
V
C
A
F
i
gu
r
e
7
.
O
ut
pu
t
r
es
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Ref
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