AoI-Minimal Task Assignment and Trajectory Optimization in Multi-UAV-Assisted IoT Networks

Abstract

This article investigates an unmanned-aerial-vehicle (UAV)-assisted Internet of Things system, where multiple UAVs take off from a data center (DC), collect data from multiple ground sensor nodes (SNs), distribute data for multiple users, and finally return to DC. A centralized information-sharing mechanism is designed among UAVs before data distribution, such that UAVs’ repeatedly visiting the same user can be avoided to save energy and time. A nonconvex Age-of-Information (AoI) minimization problem is formulated, where the task assignment, selection of interaction point (IPT), and UAVs’ trajectories are optimized jointly. It is decomposed into two subproblems: one is a joint task assignment and UAV trajectory optimization problem, which is solved by a multipopulation-based genetic algorithm (MPGA), as well as a hybrid algorithm combining dynamic programming (DP) with an improved <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$K$ </tex-math></inline-formula> -means clustering; and the other is an IPT selection problem, which is modeled as a Fermat–Weber location problem and is solved by the convex optimization technique. Simulation results show that the MPGA performs better than the hybrid algorithm as well as several benchmark algorithms.