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In real life, providing security for a set of large areas by covering thearea with Unmanned Aerial Vehicles (UAVs) is a difficult problem that consistof multiple objectives. These difficulties are even greater if the areacoverage must continue throughout a specific time window. We address this byconsidering a Vehicle Routing Problem with Time Windows (VRPTW) variation inwhich capacity of agents is one and each customer (target area) must besupplied with more than one vehicles simultaneously without violating timewindows. In this problem, our aim is to find a way to cover all areas with thenecessary number of UAVs during the time windows, minimize the total distancetraveled, and provide a fast solution by satisfying the additional constraintthat each agent has limited fuel. We present a novel algorithm that relies onclustering the target areas according to their time windows, and thenincrementally generating transportation problems with each cluster and theready UAVs. Then we solve transportation problems with the simplex algorithm togenerate the solution. The performance of the proposed algorithm and otherimplemented algorithms to compare the solution quality is evaluated on examplescenarios with practical problem sizes.

Solving Area Coverage Problem with UAVs: A Vehicle Routing with Time Windows Variation