A UAV gathers and recharges Every single sensor inside of a period of two seconds [4]. The whole energy employed by the UAV during the DOCEM dilemma will be the sum in the Electrical power used for data downloads, touring to your sensors, and sensor node recharging. For that sake of simplicity, we think the UAV, touring at fifty five km h − one
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just after consuming Strength for making and transmitting data then becoming recharged through the UAV. Constraint (seventeen) is the hold off to the UAV. It ensures that some time for just one spherical trip, which incorporates travel and communication moments, can not exceed the supplied deadline, D.
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