An energy-efficient UAV recharging and reshuffling strategy for seamless coverage

Due to the easy deployment, low cost and high maneuverability, unmanned aerial vehicles (UAVs) serving as aerial base stations can be efficiently deployed according to realtime situations for providing high-quality coverage, which can improve the communication efficiency and meet the requirements of green communications. However, due to the finite flight energy, a single UAV has limited capability of providing seamless long-term service to ground users. Therefore, the cooperation of multiple drones relying on sophisticated recharging and reshuffling schemes is necessary. In this paper, we investigate an energy- efficient cooperation strategy of multi-UAVs for providing seamless long-term coverage, where the positioning and the flight strategy are jointly considered. We first introduce a novel UAV power model, based on which we derive the cyclic UAV recharging and reshuffling constraint in order to satisfy the seamless long-term coverage requirement. For maximizing the energy-efficiency, we int