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Low cost Unmanned Aerial Vehicles (UAVs) need multiple refuels to accomplishlarge area coverage. The number of refueling stations and their placement playsa vital role in determining coverage efficiency. In this paper, we propose theuse of a ground-based refueling vehicle (RV) to increase the operational rangeof a UAV in both spatial and temporal domains. Determining optimal routes forthe UAV and RV, and selecting optimized locations for refueling to aid inminimizing coverage time is a challenging problem due to different vehiclespeeds, coupling between refueling location placement, and the coverage area ateach location. We develop a two-stage strategy for coupled route planning forUAV and RV to perform a coverage mission. The first stage computes a minimalset of refueling sites that permit a feasible UAV route. In the second stage,multiple Mixed-Integer Linear Programming (MILP) formulations are developed toplan optimal routes for the UAV and the refueling vehicle taking into accountthe feasible set of refueling sites generated in stage one. The performance ofdifferent formulations is compared empirically. In addition, computationallyefficient heuristics are developed to solve the routing problem. Extensivesimulations are conducted to corroborate the effectiveness of proposedapproaches.

Cooperative Planning for Fuel-constrained Aerial Vehicles and Ground-based Refueling Vehicles for Large-Scale Coverage