point out that every UAV can talk to just one IoT product at any given time. In addition, to enhance collaboration amongst multiple UAVs, any nth IoT unit can be serviced by at most one particular UAV concurrently, represented because of the constraint ∑ m χ m n ( t ) ≤ one
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UAV Vitality intake includes two elements: flight Electricity consumption and conversation Strength consumption. The ability usage P m ( v )
In order that IoT gadgets are certainly not accessed continuously, the reward purpose might be intended as follows:
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to point the relationship position concerning mth UAV and nth IoT device at time t. When χ m n ( t ) = one