Time Efficient Unmanned Aircraft Systems Deployment in Disaster Scenarios Using Clustering Methods and a Set Cover Approach

Abstract

Unmanned aircraft, which are more commonly known as drones, are nowadays extensively used in an ever increasing set of applications. In a wider system, the aircraft are usually associated to additional elements such as ground-based controllers. Furthermore, when these components form a network of elements that can communicate, the system is said to form an Unmanned Aircraft System (UAS). This system is particularly effective when the aircraft within are organized into swarms with sets of objectives to accomplish. The extensive use of swarms into UASs is more and more exploited nowadays due to the decreasing cost of those aircraft. In the present work we are interested in a particular application of UASs, namely their deployment in disaster scenarios for communications services provision to targets on the ground. These ground targets, however, are not part of the UASs and should not be confused with ground-based controllers. The present work does not only focus on coverage for ground targets but also on a guaranteed minimum number of covers for each target, which is called the redundancy requirement. The research work also ensures that the deployed UAS forms a unique connected component so that a steady stream of communication is kept with the targets to cover. Research work similar to the present perform the initial deployment of their aircraft in a different manner, either randomly, based on a predetermined grid formation, or using other elaborated methods. This work proposes a new solution based on the use of clustering algorithms, combined to a design of the problem formulated as a set cover optimization model. The clustering phase is used to discretize the search space and ease the optimization phase by locating regions of interest, and then a further procedure is applied, only when needed, to reconnect scattered connected components and guarantee connectivity in the networks. This way of doing it has achieved a deployment of UASs with maximum coverage for all targets, a guaranteed minimum number of covers for each of them, and results in a competitive computation time. The latter also allowed for more scalability by extending the tests to very large input instances.