Fly and Recharge: Achieving Persistent Coverage using Small Unmanned Aerial Vehicles (SUAVs)

Several applications involving the utilization of Small Unmanned Aerial Vehicles (SUAVs) require stationary and long-term coverage of a target area. Unfortunately, this goal is hard to achieve due the need for coordination and the limited flight autonomy of the SUAVs. In this paper, we investigate how to guarantee persistent coverage of a target area through SUAVs by exploiting characteristics of fixed terrestrial infrastructure and inherent energy limitations. This paper makes three main contributions. First, the problem of SUAV activity scheduling is formulated for pre-existing fixed placements, and centrally solved to maximize the network lifetime given a target coverage ratio. Second, a distributed, bio-inspired algorithm is devised using local (1-hop) communication only, i.e., the scheme takes into account both positioning and charging issues allowing the SUAVs to self-organize into a maximum-coverage connected swarm, and coordinate the charging operations. Third, the performance of the distributed scheme is compared to the optimal solution, and the impact of the system parameters like the placement height and the discharging rate on the coverage metrics is discussed.