Network connectivity and area coverage for UAV fleet mobility model with energy constraint

Our main focus through the present paper is on developing an original distributed mobility model for autonomous fleet of interconnected UAVs (Unmanned Aerial Vehicles) performing an area exploration mission. The UAVs, equipped with wireless ad-hoc capabilities, are required to optimally explore an area while maintaining connectivity with their neighboring UAVs and the base station. Because energy is a scarce resource, especially for UAVs, its wise management is quite beneficial for the network lifetime and mission success. Hence, the proposed mobility model, compared to other models in the literature, is the first to ever include the remaining energy level as decision criterion combined with area coverage and network connectivity. Based on these criterions and the information received from its neighbors, each UAV determines, using the information received from its neighbors, its next movement to be undertaken. The performances of the proposed approach are compared with those achieved through a randomized approach and a forces-based approach. Simulation results, using NS3, show that it outperforms the two other models in terms of coverage and connectivity.