Fig. 4From: Evaluating flight coordination approaches of UAV squads for WSN data collection enhancing the internet range on WSN data collectionThe Figure presents a UAV before and after the feasible exchange horizontal distance S with the constrain of \(S \leq 2 \sqrt {H^{2} - R^{2}}\). R is measured on the ground, H is upright from ground and S is parallel to RBack to article page