Collision-free distributed path planning for the swarm of unmanned aerial vehicles (UAVs) in a stochastic and dynamic environment is an emerging and challenging subject for research in the field of a communication system. Monitoring the methods and approaches for multi-UAVs with full area surveillance is needed in both military and civilian applications, in order to protect human beings and infrastructure, as well as their social security. To perform the path planning for multiple unmanned aerial vehicles, we propose a trajectory planner based on Particle Swarm Optimization (PSO) algorithm to derive a distributed full coverage optimal path planning, and a trajectory planner is developed using a dynamic fitness function. In this paper, to obtain dynamic fitness, we implemented the PSO algorithm independently in each UAV, by maximizing the fitness function and minimizing the cost function. Simulation results show that the proposed distributed path planning algorithm generates feasible optimal trajectories and update maps for the swarm of UAVs to surveil the entire area of interest.

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Non-terrestrial network (NTN) systems can offer wide area coverage for applications requiring high mobility, which is expected in the sixth generation (6G) of telecommunication systems. This paper proposes a high-mobility support system based on the 5G-NR physical layer components for NTN connectivity. In this paper, we propose the optimization of 5G-NR numerologies and the impact of various modulation and coding schemes (MCS), 3GPP NR-NTN channel models, and MIMO/beamforming schemes with link-level simulation under pilot-aided-based perfect and DM-RS-based practical channel estimation at stationary UE and high mobility of 500 km/h, respectively. This paper also develops a link-level simulation of the 5G-NR physical downlink shared channel (PDSCH) under the 3GPP NR-NTN tapped delay line (TDL) channel model to support UE mobility up to 500 km/h. The bit error rate (BER), maximum achievable throughput (Mbps), and spectral efficiency (bps/Hz) are analyzed for the 5G-NR-based potential elements to be utilized in the evolution of NTN. Furthermore, the denser DM-RS symbol pattern is proposed for utilization in channel estimation to support high mobility, as simulation results prove their capability of fast decoding while using the front-loaded symbol structure. The simulation results show that the large 5G-NR numerologies, such as 120 kHz and DM-RS-based channel estimation, support the high UE mobility by providing high link reliability and the maximum achievable throughput of 368.832 Mbps and spectral efficiency of 3.68 bps/Hz under 64-QAM for TDL-E (LOS) channel model, which can also be a potential solution to support transonic speed mobility in the NTN of 6G services.

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