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We study route scheduling of a UAV for data collec-tion from remote sensornodes (SNs) with battery recharging. Thefreshness of the collected informationis captured by the metric ofage of information (AoI). The objective is tominimize the averageAoI cost of all SNs over a scheduling time horizon. Weprove thatthe problem is NP-hard via a reduction from the Hamiltonianpath.Next, we prove tractability of the problem for a symmetricscenario. For problemsolving, we develop an algorithm based ongraph labeling. Finally, we show theeffectiveness of our algorithmin comparison to greedy scheduling.

Age-Optimal UAV Scheduling for Data Collectionwith Battery Recharging