I. Introduction
Nowadays, the explosive growth of data services has posed an increasingly high burden on the existing communication systems. The connection of mobile devices is estimated up to 29.3 billion by the year of 2023 [1]. It is urgent to introduce new techniques to couple the technical challenge by such boosting. Unmanned aerial vehicles (UAVs) assisted communications is one of the promising candidates that have attracted extensive research attention [2]. Compared to the traditional ground wireless communication systems, UAV-assisted networks can provide higher mobility and probability of Line-of-Sight (LoS) networks links between the UAVs and the Internet of Things Devices (IoTDs) [3]–[6]. Hence, UAVs can be utilized as flying base station (FBS) [7], [8], relaying [4], [9] and wireless power transfer station [10], [11], etc. Besides, thanks to the flexibility of UAV, it can handle special situations, such as providing emergency communication in a disaster-stricken region [12] and enhancing communication safety [13].