In this letter, we study the on-demand UAV-BS placement problem for arbitrarily distributed users. This UAV-BS placement problem is modeled as a knapsack-like problem, which is NP-complete. We propose a density-aware placement algorithm to maximize the number of covered users subject to the constraint of the minimum required data rates per user. Simulations are conducted to evaluate the performance of the proposed algorithm in a real environment with different user densities. Our numerical results indicate that for various user densities our proposed solution can service more users with guaranteed data rates compared to the existing method, while reducing the transmit power by 29%.
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