A Generic Spatiotemporal UAV Scheduling Framework for Multi-Event Applications

In this paper, a generic scheduling framework to manage a fleet of micro unmanned aerial vehicles (UAVs) is proposed. The objective is to employ multiple UAVs in sequential and parallel ways to cover spatially and temporally distributed events in a geographical area of interest over a long period of time. The proactive scheduling framework considers several constraints and challenges, including the technical specifications of the UAVs and the limited battery capacities. In addition, the platform considers the necessity to regularly send back the UAVs to a docking station for battery recharging. A mixed integer nonlinear programming problem aiming at minimizing the total energy consumption and the number of employed UAVs is formulated to guarantee the non-redundant exploitation of the resources. Afterward, a series of linearization steps are introduced to convert the problem into a mixed integer linear programming one so that it can be optimally solved. To reduce the complexity of the problem, a dynamic time horizon discretization approach adapted to the characteristics of the problem is performed beforehand. The proposed UAV scheduling framework is formulated in a generic manner and can be applied in multiple domains comprising short- and/or long-term UAV missions while ensuring uninterrupted service.