Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV's antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS) and another UAV. We propose a framework to generate feasible trajectories for the multi-rotor UAV relay while considering its motion dynamics and the motion-induced changes of the antenna orientation. The UAV relay's trajectory is optimized to maximize the end-to-end number of bits transmitted. Numerical simulations in MATLAB and Gazebo show the benefits of accounting for the antenna orientation variations due to the UAV tilt.

翻译：多旋翼无人机在运动时需要倾斜，这会改变无人机的天线方向。本文考虑多旋翼无人机作为基站与另一架无人机之间通信中继的场景。我们提出一个框架，在考虑无人机运动动力学及运动引起的天线方向变化的同时，生成多旋翼无人机中继的可行轨迹。该无人机中继的轨迹经过优化，以最大化端到端传输的比特数。在MATLAB和Gazebo中的数值仿真表明，考虑无人机倾斜引起的天线方向变化具有显著优势。