3D models Cramer–Rao bound GPS measurement Information technology industries MUSIC UAV UAV fleet UAV replacement UAV secure communication UAV swarm UAV-enabled computing algorithms aperiodic arrays collision-free communication complex field network coding (CFNC) configuration control control co-design cooperative communication data collection data collection utility data offloading decentralized sliding mode control direction-of-arrival estimation drones dynamic model edge computing energy consumption internet of things jamming