An Effective UAV Scheduling Algorithm for Public Transportation-assisted Urban Surveillance System

Unmanned aerial vehicles (UAVs) are increasingly utilized in smart city applications, particularly for urban surveillance. UAVs can be provisioned as mobile surveillance to avoid various difficulties in ground operations and reduce extensive labor cost. However, their limited energy capacity restricts flight time and coverage, making it difficult to build a large-scale, long-term city-wide monitoring network. To address this problem, an ubiquitous public transportation network is introduced for UAVs to periodically recharge by landing on public transportation buses. We propose a novel public transportation-assisted UAV scheduling framework that leverages the existing bus network to enable recharging of UAVs. Two intertwined sub-problems are addressed: the UAV trajectory planning and the surveillance task offloading problems. The trajectory planning is modeled as a Traveling Salesman Problem (TSP) and it is solved via the Lin-Kernighan heuristic (LKH), decomposing the bus station network into sub-graphs for efficient routing. For task offloading, a time-slot-based scheduling method is proposed that dynamically assigns UAVs to monitor points of interest (PoIs) while ensuring energy constraints and full coverage. Experimental results demonstrate that the proposal outperforms baseline algorithms, achieving a 1.72%-3.46% average extension in system lifetime compared to state-of-the-art baselines, while maintaining computational efficiency (average runtime: 277.57 ms). The robustness of the proposal is further validated across diverse testing instances with various parameter settings.