Persistent Monitoring for Points of Interest with Different Data Update Deadlines

Abstract

In this paper, we study the regular sensory data collection of Points of Interest (PoIs) with multiple Unmanned Aerial Vehicles (UAVs) during an extended monitoring period, where each PoI is visited multiple times before its data update deadline to keep the data fresh. We observe that most existing studies ignored the important differences in the data stored in the PoIs, scheduled a plan that dispatched UAVs to visit all PoIs before the same deadline, and simply repeated the plan during the monitoring period, which undoubtedly increased the service cost of the UAVs. Considering the specific data update deadline of each PoI, we formulate a novel UAV cost minimization problem to collect the data stored in each PoI before its deadline by finding a series of plans for UAVs such that the service cost of the UAVs during the monitoring period is minimized; the service cost of the UAVs is composed of the consumed energy of the UAVs utilized for hovering for data collection and the consumed energy of the UAVs utilized for flying. To deal with the above NP-hard problem, we devise an approximation algorithm by grouping the PoIs and accessing them in batches. Then, we analyze the proposed algorithm and evaluate the performance of the algorithm through experimental simulations. The experimental results show that the proposed algorithm is very promising.