What Will the Future ofUAV Cellular Communications Be?A Flight from 5G to 6G

What will the future of UAV cellular communicationsbe?In this tutorial article, we address such a compelling yetdifficult question by embarking on a journey from 5G to 6Gand expounding a large number of case studies supported byoriginal results. We start by overviewing the status quo on UAVcommunications from an industrial standpoint, providing freshupdates from the 3GPP and detailing new 5G NR features insupport of aerial devices. We then dissect the potential andthe limitations of such features. In particular, we demonstratehow sub-6 GHz massive MIMO can successfully tackle cellselection and interference challenges, we showcase encouragingmmWave coverage evaluations in both urban and suburban/ruralsettings, and we examine the peculiarities of direct device-to-device communications in the sky. Moving on, we sneak a peekat next-generation UAV communications, listing some of the usecases envisioned for the 2030s. We identify the most promising6G enablers for UAV communication, those expected to takethe performance and reliability to the next level. For each ofthese disruptive new paradigms (non-terrestrial networks, cell-free architectures, artificial intelligence, reconfigurable intelligentsurfaces, and THz communications), we gauge the prospectivebenefits for UAVs and discuss the main technological hurdles thatstand in the way. All along, we distil our numerous findings intoessential takeaways, and we identify key open problems worthyof further study.