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The use of Unmanned Aerial Vehicles (UAVs) for collecting data from remotelylocated sensor systems is emerging. The data can be time-sensitive and requireto be transmitted to a data processing center. However, planning the trajectoryof a collaborative UAV swarm depends on multi-fold constraints, such as datacollection requirements, UAV maneuvering capacity, and budget limitation. Sincea UAV may fail or be compromised, it is important to provide necessaryresilience to such contingencies, thus ensuring data security. It is importantto provide the UAVs with efficient spatio-temporal trajectories so that theycan efficiently cover necessary data sources. In this work, we presentSynth4UAV, a formal approach for automated synthesis of efficient trajectoriesfor a UAV swarm by logically modeling the aerial space and data point topology,UAV moves, and associated constraints in terms of the turning and climbingangle, fuel usage, data collection point coverage, data freshness, andresiliency properties. We use efficient, logical formulas to encode and solvethe complex model. The solution to the model provides the routing andmaneuvering plan for each UAV, including the time to visit the points on thepaths and corresponding fuel usage such that the necessary data points arevisited while satisfying the resiliency requirements. We evaluate the proposedtrajectory synthesizer, and the results show that the relationship amongdifferent parameters follow the requirements while the tool scales well withthe problem size.

Automated Trajectory Synthesis for UAV Swarms Based on Resilient Data Collection Objectives