Approved for public release; distribution in unlimited. / a beam towards the UAV. A simulation model was developed and implemented in MATLAB programming language to study the effectiveness of beamforming using sensor clusters for establishing a communication link to the UAV. Results showed that the antenna main lobe remained relatively unchanged in the presence of position errors and sensor node failures or when the density of the sensor nodes changed. Additionally, the maximum average power gain of the main lobe can be increased by increasing the density of the sensor cluster, thereby increasing the transmission range between the sensor clusters and the UAV. / Civilian, Singapore Ministry of Defense