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We consider a channel model with small scale fading and large scale path loss for a practical scenario.

Since we consider the spatial location distribution of SCs, so the large scale path loss is applied.

The model of the channel propagation is made up of two main factors, i.e., large scale path loss and small scale multi-path fading.

m r x,t x is the large scale path loss from a transmitter to its receiver and β is constant.

In particular, we consider the large scale path loss and the shadow fading effect in our channel models (details are presented in Section 1).

where F12 captures the small scale fading which obeys a Rayleigh fading model and l(∥x1−x2∥)=∥x1−x2∥−α characterizes the effect of large scale path loss with path loss exponent α.

In particular, we investigate the effective transmission range of directional antennas with consideration of various channel conditions, such as the large scale path loss and the shadow fading effect.

Then, we formulate the following expression to describe the large scale path loss from a transmitter to its receiver and it is the dB model of m r x,t x [21]: begin{aligned} {M_{rx,tx}}[text{dB}] &= 10*alpha log (4pi d) + 10*alpha log (f) &- 20log ({l_{T}}*{l_{R}}), end{aligned} (2).

It is also a promising approach to allow new generation robots, designed to work in unconstrained environments, dynamically plan large-scale paths.

The wireless channel combines large-scale path loss and small-scale Rayleigh fading.

In literature, a substantial number of large-scale path loss models have been reported.

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