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In commercial unmanned aerial vehicle (UAV) applications, one of the mainrestrictions is UAVs' limited battery endurance when executing persistenttasks. With the mature of wireless power transfer (WPT) technologies, byleveraging ground vehicles mounted with WPT facilities on their proofs, wepropose a mobile and collaborative recharging scheme for UAVs in an on-demandmanner. Specifically, we first present a novel air-ground cooperative UAVrecharging framework, where ground vehicles cooperatively share their idlewireless chargers to UAVs and a swarm of UAVs in the task area compete to getrecharging services. Considering the mobility dynamics and energy competitions,we formulate an energy scheduling problem for UAVs and vehicles under practicalconstraints. A fair online auction-based solution with low complexity is alsodevised to allocate and price idle wireless chargers on vehicular proofs inreal time. We rigorously prove that the proposed scheme is strategy-proof,envy-free, and produces stable allocation outcomes. The first property enforcesthat truthful bidding is the dominant strategy for participants, the secondensures that no user is better off by exchanging his allocation with anotheruser when the auction ends, while the third guarantees the matching stabilitybetween UAVs and UGVs. Extensive simulations validate that the proposed schemeoutperforms benchmarks in terms of energy allocation efficiency and UAV'sutility.

An Envy-Free Online UAV Charging Scheme with Vehicle-Mounted Mobile Wireless Chargers