Two-Timescale Optimization for Aerial Rotatable Antenna Array in Cell-Free Networks With Dynamic Users

Cell-free (CF) networks have attracted increasing attention for their effectiveness in mitigating inter-cell interference through cooperative transmission among distributed access points (APs). However, conventional terrestrial CF networks often lack spatial flexibility and struggle to adapt to dynamic environments. To overcome these limitations, we propose a new CF network served by unmanned aerial vehicles (UAVs) equipped with a three-dimensional (3D) rotatable antenna array. Combined with the UAV’s controllable 3D position, the resulting six-dimensional (6D) spatial reconfigurability enables the active beam steering of such aerial APs, thereby enhancing interference mitigation and dynamic user association. However, this design, referred to as 6D aerial rotatable antenna arrays (6DARAs), faces several critical challenges, such as high-dimensional coupled control variables, time-varying user positions, and increased channel state information (CSI) estimation overhead. To address these issues, we develop a two-timescale optimization framework that separates large-timescale 6DARA control (i.e., clustering, position, and rotation) from small-timescale signal processing. At the small-timescale, a closed-form team minimum mean-squared error decoder is derived using local and statistical CSI. At the large-timescale, 6DARA clustering is modeled as a local altruistic game and solved via a concurrent update algorithm, while 6DARA mobility is managed by an enhanced multi-agent reinforcement learning algorithm for efficient position and rotation adaptation under partial observability. Simulation results demonstrate that the proposed network and optimization framework significantly outperform existing baselines in terms of throughput, scalability, and robustness in dynamic environments.