“…The horizontal positions of S and J at the nth slot are expressed as q S (n) = [x S (n) , y S (n)] T and q J (n) = [x J (n) , y J (n)] T , respectively. In addition, w D k ∈ R 2×1 , w Ur ∈ R 2×1 , and w E ∈ R 2×1 denote the location coordinates of D k , U r , and E. Similar to [19] and [23], all the A2G links are assumed to be LoS links. For simplicity, it is assumed that the A2G links are dominated by the LoS links, where the channel quality depends only on Euclidean distance.…”