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Title: Optimal deployment of charging stations for aerial surveillance by UAVs with the assistance of public transportation vehicles
Authors: Huang, H 
Savkin, AV
Issue Date: 2021
Source: Sensors, 2021, v. 21, no. 16, 5320
Abstract: To overcome the limitation in flight time and enable unmanned aerial vehicles (UAVs) to survey remote sites of interest, this paper investigates an approach involving the collaboration with public transportation vehicles (PTVs) and the deployment of charging stations. In particular, the focus of this paper is on the deployment of charging stations. In this approach, a UAV first travels with some PTVs, and then flies through some charging stations to reach remote sites. While the travel time with PTVs can be estimated by the Monte Carlo method to accommodate various uncertainties, we propose a new coverage model to compute the travel time taken for UAVs to reach the sites. With this model, we formulate the optimal deployment problem with the goal of minimising the average travel time of UAVs from the depot to the sites, which can be regarded as a reflection of the quality of surveillance (QoS) (the shorter the better). We then propose an iterative algorithm to place the charging stations. We show that this algorithm ensures that any movement of a charging station leads to a decrease in the average travel time of UAVs. To demonstrate the effectiveness of the proposed method, we make a comparison with a baseline method. The results show that the proposed model can more accurately estimate the travel time than the most commonly used model, and the proposed algorithm can relocate the charging stations to achieve a lower flight distance than the baseline method.
Keywords: Advances in robotic applications
Charging stations
Public transportation vehicles
Robot sensing
Surveillance and monitoring
Unmanned aerial vehicle (UAV)
Vision-based sensing
Publisher: Molecular Diversity Preservation International (MDPI)
Journal: Sensors 
EISSN: 1424-8220
DOI: 10.3390/s21165320
Rights: © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (
The following publication Huang, H.; Savkin, A.V., Optimal Deployment of Charging Stations for Aerial Surveillance by UAVs with the Assistance of Public Transportation Vehicles. Sensors 2021, 21, 5320 is available at
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