Efficient and QoS-Aware Drone Coordination for Simultaneous Environment Coverage

Simultaneous coverage represents an important problem for various drone applications where objects must be covered by simultaneously captured images from different viewpoints that may impose additional requirements on geometry, resolution, and depth error. In order to solve simultaneous coverage, the drones must plan their movements such that the required viewpoints are concurrently reached while minimizing the overall mission time and satisfying the quality requirements. In this paper, we introduce a market-based and QoS-aware coordination method for assigning drones to viewpoints during the mission. In our simulation study, we compare three algorithm variants based on the achieved mission time and the required communication effort.