Self-Organized Drone Placement for the Surveillance of Uneven Surface

This paper addresses uneven terrain coverage and attempts to develop a maximally compact coverage with a uniform random distribution of n drones. We focus on an efficient drone placement approach so that, in a self-organized way, all drones together effectively achieve maximum coverage without any coverage hole and have a minimum diameter of the network established by drones. We propose a distributed algorithm called VORFRC based on the concepts of Voronoi and Virtual Force together. Our algorithm improves prior work by combining two existing algorithms LVOR and VFRC. Simulation studies show significant performance improvement, compared to the work [1] in terms of covered area, drone displacement, rounds of execution, and network diameter, respectively.