Optimal deployment of charging stations for aerial surveillance by uavs with the assistance of public transportation vehicles

Hailong Huang, Andrey V. Savkin

Research output: Journal article publicationJournal articleAcademic researchpeer-review

4 Citations (Scopus)


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.

Original languageEnglish
Article number5320
Issue number16
Publication statusPublished - 6 Aug 2021


  • Advances in robotic applications
  • Charging stations
  • Drones
  • Public transportation vehicles
  • Robot sensing
  • Surveillance and monitoring
  • Unmanned aerial vehicle (UAV)
  • Vision-based sensing

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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