Joint Routing and Scheduling for Vehicle-Assisted Multidrone Surveillance

In recent decades, unmanned aerial vehicles (UAVs, also known as drones) equipped with multiple sensors have been widely utilized in various applications. Nevertheless, constrained by limited battery capacities, the hovering time of UAVs is quite limited, prohibiting them from serving a wide area. To cater with remote sensing applications, people often employ vehicles to transport, launch, and recycle them. The so-called vehicledrone cooperation (VDC) benefits from both the far driving distance of vehicles and the high mobility of UAVs. Efficient routing and scheduling can greatly reduce time consumption and financial expenses incurred in VDC. However, previous works in vehicle-drone cooperative sensing considered only one drone, thus unable to simultaneously cover multiple targets distributed in an area. Using multiple drones to sense different targets in parallel can significantly promote efficiency and expand service areas. Therefore, we propose a novel problem, referred to as vehicle-assisted multidrone routing and scheduling problem. To tackle the problem, we contribute an efficient algorithm, referred to as vehicle-assisted multi-UAV routing and scheduling algorithm (VURA). In VURA, we maintain and iteratively update a memory containing candidate UAV routes. VURA works by iteratively deriving solutions based on UAV routes picked from the memory. In every iteration, VURA jointly optimizes anchor point selection, path planning, and tour assignment via nested optimization operations. To the best of our knowledge, we are the first to tackle this novel yet challenging problem. Finally, performance evaluation is presented to demonstrate the effectiveness and efficiency of our algorithm when compared with existing solutions.