# Evolution of Non-Terrestrial Networks From 5G to 6G: A Survey

arXiv: https://arxiv.org/abs/2107.06881 · HTML: https://mlsanity.com/paper/2107.06881/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Jul 2021.

## Built on by (most cited first, 9 of 9)

- [Leveraging Large Language Models for Integrated Satellite-Aerial-Terrestrial Networks: Recent Advances and Future Directions](https://mlsanity.com/paper/2407.04581/) (2024)
- [AI-Native Open RAN for Non-Terrestrial Networks: An Overview](https://mlsanity.com/paper/2507.11935/) (2025)
- [Bridging Earth and Space: A Survey on HAPS for Non-Terrestrial Networks](https://mlsanity.com/paper/2510.19731/) (2025)
- [Large Artificial Intelligence Model Guided Deep Reinforcement Learning for Resource Allocation in Non Terrestrial Networks](https://mlsanity.com/paper/2601.08254/) (2026)
- [A Federated Channel Modeling System using Generative Neural Networks](https://mlsanity.com/paper/2305.18856/) (2023)
- [Towards 6G Intelligence: The Role of Generative AI in Future Wireless Networks](https://mlsanity.com/paper/2508.19495/) (2025)
- [AI-Empowered UAV-Assisted Backscatter Localization and ISAC for Zero-Energy IoT: A Comprehensive Survey](https://mlsanity.com/paper/2606.23125/) (2026)
- [Memory-Native Non-Terrestrial Networks for Embodied Intelligence](https://mlsanity.com/paper/2607.00029/) (2026)
- [ML-Based Hierarchical Prediction for Practical Energy Scheduling in Dynamic NTN-WPT Systems](https://mlsanity.com/paper/2608.08804/) (2026)

## Abstract (arXiv)

Non-terrestrial networks (NTNs) traditionally have certain limited applications. However, the recent technological advancements and manufacturing cost reduction opened up myriad applications of NTNs for 5G and beyond networks, especially when integrated into terrestrial networks (TNs). This article comprehensively surveys the evolution of NTNs highlighting their relevance to 5G networks and essentially, how it will play a pivotal role in the development of 6G ecosystem. We discuss important features of NTNs integration into TNs and the synergies by delving into the new range of services and use cases, various architectures, technological enablers, and higher layer aspects pertinent to NTNs integration. Moreover, we review the corresponding challenges arising from the technical peculiarities and the new approaches being adopted to develop efficient integrated ground-air-space (GAS) networks. Our survey further includes the major progress and outcomes from academic research as well as industrial efforts representing the main industrial trends, field trials, and prototyping towards the 6G networks.