RF-based connectivity management of aerial sensor networks for 3D coverage optimization

For efficient sensor coverage of large industrial and incident areas, fast and flexible strategies for collecting optical sensor data through an autonomous, wirelessly connected swarm of Micro Unmanned Aerial Vehicles (MUAV) is still an emerging challenge. Of particular interest are strategies for spatial coverage optimization of mobile networks and the acquisition of high quality image material targeting a photogrammetric 3D reconstruction of the area of interest. In MUAV based swarms continuous and excellent communication links are a key factor for the success of the overall achievement of objectives. However, disregarding communication aspects in mission strategies is a common simplification. In this paper we examine an agent-based approach that targets (a) high spatial sensor coverage and (b) high quality communication links. For these key figures, the performance of the suggested algorithm is evaluated. We particularly focus on channel aware mobility and on self organizing mesh topologies of MUAV based sensor swarms.