Multi-UAV Coverage Strategy Using a Balanced Decomposition Approach

This paper presents a multi-UAV coverage strategy employing a balanced decomposition approach for patrol and surveillance tasks. The balanced decomposition method, based on coverage paths utilizing the Rotating Caliper Path Planning (RCPP) algorithm, facilitates the partitioning of a Region of Interest (ROI) into convex sub-regions with uniform size. Subsequently, the Hungarian algorithm is applied to assign these sub-regions to the UAVs, taking into account estimated travel distances and energy reserves, to ensure that the UAVs accomplish their designated coverage mission at an optimal cost. Simulation experiments conducted in various ROIs with varying numbers of UAVs validate the high performance of the proposed approach. This is evidenced by the precise balanced decomposition of ROIs, resulting in workload equilibrium among UAVs, nearly absolute coverage rates, and enhanced energy efficiency.