The deployment of heterogeneous teams of both air and ground mobile assets combines the advantages of mobility, sensing capability, and operational duration when performing complex tasks. Air assets in such teams act to relay information between ground assets but must maintain unblocked paths to enable high-capacity communication modes. Obstacles in the operational environment may block the line of sight (LoS) between air assets and ground assets depending on their locations and heights. In this paper, we analyze the probability of spanning a two-hop communication between a pair of ground assets deployed in an environment with obstacles at random locations and with random heights (i.e. a Poisson Forest) using an air asset at any location near the ground assets. We provide a closed-form expression of the LoS probability based on the 3-dimensional locations of the air asset. We then compute a 3-D manifold of the air asset locations that satisfy a given LoS probability constraint. We further consider throughput as a measure of communication quality, and use it as an optimization objective.

翻译：异构地空移动资产团队在执行复杂任务时，兼具机动性、感知能力和续航时长等优势。此类团队中的空中资产负责在地面资产之间中继信息，但必须保持无遮挡路径以支持高容量通信模式。作业环境中的障碍物因其位置和高度差异，可能阻断空中资产与地面资产之间的视距链路。本文分析了在障碍物随机分布且高度服从泊松森林模型的场景中，利用地面资产附近任意位置的空中资产构建两跳通信的概率。我们基于空中资产的三维空间位置推导了视距概率的闭式表达式，进而计算出满足给定视距概率约束的空中资产位置的三维流形。进一步以吞吐量作为通信质量评价指标，并将其作为优化目标进行求解。