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This paper studies unmanned aerial vehicle (UAV) aided wireless communication systems where a UAV supports uplink communications of multiple ground nodes (GNs) while flying over the area of the interest. In this system, the propulsion energy consumption at the UAV is taken into account so that the UAV's velocity and acceleration should not exceed a certain threshold. We formulate the minimum average rate maximization problem and the energy efficiency (EE) maximization problem by jointly optimizing the trajectory, velocity, and acceleration of the UAV and the uplink transmit power at the GNs. As these problems are non-convex in general, we employ the successive convex approximation (SCA) techniques. To this end, proper convex approximations for the non-convex constraints are derived, and iterative algorithms are proposed which converge to a local optimal point. Numerical results demonstrate that the proposed algorithms outperform baseline schemes for both problems. Especially for the EE maximization problem, the proposed algorithm exhibits about 109 % gain over the baseline scheme., Comment: 24 pages, 7 figures

This paper investigates unmanned aerial vehicle (UAV)-aided wireless powered communication network (WPCN) systems where a mobile access point (AP) at the UAV serves multiple energy-constrained ground terminals (GTs). Specifically, the UAVs first charge the GTs by transmitting the wireless energy transfer (WET) signals in the downlink. Then, by utilizing the harvested wireless energy from the UAVs, the GTs send their uplink wireless information transmission (WIT) signals to the UAVs. In this paper, depending on the operations of the UAVs, we adopt two different scenarios, namely integrated UAV and separated UAV WPCNs. First, in the integrated UAV WPCN, a UAV acts as a hybrid AP in which both energy transfer and information reception are processed at a single UAV. In contrast, for the separated UAV WPCN, we consider two UAVs each of which behaves as an energy AP and an information AP independently, and thus the energy transfer and the information decoding are separately performed at two different UAVs. For both systems, we jointly optimize the trajectories of the UAVs, the uplink power control, and the time resource allocation for the WET and the WIT to maximize the minimum throughput of the GTs. Since the formulated problems are non-convex, we apply the concave-convex procedure by deriving appropriate convex bounds for non-convex constraints. As a result, we propose iterative algorithms which efficiently identify a local optimal solution for the minimum throughput maximization problems. Simulation results verify the efficiency of the proposed algorithms compared to conventional schemes., Comment: 22 pages, 7 figures