  The deployment of heterogeneous teams of both air and ground mobile assets
combines the advantages of mobility, sensing capability, and operational
duration when performing complex tasks. Air assets in such teams act to relay
information between ground assets but must maintain unblocked paths to enable
high-capacity communication modes. Obstacles in the operational environment may
block the line of sight (LoS) between air assets and ground assets depending on
their locations and heights. In this paper, we analyze the probability of
spanning a two-hop communication between a pair of ground assets deployed in an
environment with obstacles at random locations and with random heights (i.e. a
Poisson Forest) using an air asset at any location near the ground assets. We
provide a closed-form expression of the LoS probability based on the
3-dimensional locations of the air asset. We then compute a 3-D manifold of the
air asset locations that satisfy a given LoS probability constraint. We further
consider throughput as a measure of communication quality, and use it as an
optimization objective.
