I. Introduction
Recently, unmanned aerial vehicles (UAVs) have received great attention in the fifth-generation (5G) or beyond 5G (B5G) communication. Due to their mobility capability, UAVs equipped with communication transceivers can offer new communication services that are difficult to support in conventional fixed infrastructures [1]–[7]. For example, UAVs can be employed to support public safety networks or resolve unexpected emergency situations much more cost efficiently and faster than the fixed infrastructures [1]–[4]. In addition, UAVs can provide seamless wireless connectivity to things or users that do not reach the coverage of terrestrial infrastructures, which plays an important role for realizing the Internet-of-Things (IoT) network to be everywhere [5]–[7]. On the other hand, the mobility of UAVs can also be leveraged to assist cellular communications [8]–[16]. For example, UAVs can serve as flying base stations (BSs) or relays to handle overloaded data traffic in cellular networks or to improve the coverage and the capacity of cellular networks [8]–[11]. Furthermore, UAVs can be effectively used to construct smart heterogeneous networks, since they can be dynamically and flexibly deployed to meet immediate communication needs [12]–[16]. Consequently, UAVs have been recognized as one of the important components in 5G or B5G communication systems [2]–[4].