This function returns the state based on the UAV's location. :param x_u: UAV's longitude :param y_u: UAV's latitude :param size:

This function is the reverse of the previous function which means it converts the regional location to the global location. :param x_r

This function converts the UAV's state from the big and global grid to the smaller region also it returns the regional location as well.

This function calculates reward for all UAVs based on the current and previous throughput values and considering the energy consumption as

This function is greedy exploitation based on the Q table history of each drone. It chooses the best action based on the experienced Q valu

This function is the random exploration for the UAV and updates its current state and location based on the chosen random action :para

This function finds the maximum Q values for the UAV based on the new state that it moved to. :param qval: Q value matrix for the UAV

This function updates the CSI location based on the changed location of drones. :param num_UAV: Number of UAVs. :param location: The i

This function returns the UAV's current location based on the current state inside the region. :param state: UAV's current state :para

This function initializes the energy values for all drones and UAV randomly based on the energy config file :param num_UAV: Number of UAVs

This function chooses a random region for the primary UAV :param region_ids: IDs of regions :return: random region for the primary (index

This function randomly chooses a UAV for the primary region and flies it and updates its residual energy. :param regions: Coordinates (center

This function randomly chooses regions for the secondary network and randomly allocates the UAVs to those regions. :param num_uav: Number of

This function randomly allocates UAVs to the secondary regions and updates their energy after flight. :param num_uav: Number of UAVs

This function calculates the center coordinates of each region. :param size: The global grid size :param region: Number of regions in the

This function finds the best region for the primary UAV to relay the terrestrial users' data. :param regions: regions coordinates (centers)

This function finds the best UAV for the primary network after its flight considering the residual energy. :param regions: Coordinates (cente

This function allocates secondary UAVs to the secondary regions based on the best allocation of residual energy. :param num_uav: Number of UA

This function randomly chooses regions for the secondary network but allocates UAVs to them based on the best allocation. :param num_uav:

This function calculates the Amplify and forward throughput rate using the SNR for all UAVs and return all values. :param action: This is tas

This function updates the UAVs' energy after choosing an action for the mobility. :param energy: The energy matrix(vector) for all UAVs :

This function updates the UAVs' energy after data transmission. :param energy: The energy matrix(vector) for all UAVs :param tran_rate: T

This function generate the CSI parameters based on the LOS propagation model and the location of nodes at the beginning of the problem.

This function returns all random locations of UAVs and ground users based on the constraints. :param num_UAV: The number of UAVs :para