  Routing is a crucial component in the design of Flying Ad-Hoc Networks
(FANETs). State of the art routing solutions exploit the position of Unmanned
Aerial Vehicles (UAVs) and their mobility information to determine the
existence of links between them, but this information is often unreliable, as
the topology of FANETs can change quickly and unpredictably. In order to
improve the tracking performance, the uncertainty introduced by imperfect
measurements and tracking algorithms needs to be accounted for in the routing.
Another important element to consider is beamforming, which can reduce
interference, but requires accurate channel and position information to work.
In this work, we present the Beam Aware Stochastic Multihop Routing for FANETs
(BA-SMURF), a Software-Defined Networking (SDN) routing scheme that takes into
account the positioning uncertainty and beamforming design to find the most
reliable routes in a FANET. Our simulation results show that joint
consideration of the beamforming and routing can provide a 5% throughput
improvement with respect to the state of the art.
