UAS data retrieval for large sensor networks

This paper examines data retrieval from a network of distributed sensors using an electrically powered uncrewed aircraft system (UAS) under the assumption that it is not possible to visit all sensors in a single flight and therefore multiple flights will be required (a resource constrained travelling salesman problem with refueling, RCTSP-R). Two aspects of this problem are addressed: first, minimizing the total time required to charge the UAS and complete a flight and second, finding a good solution to the resource constrained TSP with refueling. Time minimization is shown to be equivalent to the final glide problem in soaring and a sectoringbased approach is proposed to solve the resource constrained TSP with refueling. Monte Carlo simulations are used to show the utility of the proposed approaches, including the effects of wind on energy required for flight.