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Persistent monitoring missions require an up-to-date knowledge of thechanging state of the underlying environment. UAVs can be gainfully employed tocontinually visit a set of targets representing tasks (and locations) in theenvironment and collect data therein for long time periods. The enduring natureof these missions requires the UAV to be regularly recharged at a servicestation. In this paper, we consider the case in which the service station isnot co-located with any of the targets. An efficient monitoring requires therevisit time, defined as the maximum of the time elapsed between successiverevisits to targets, to be minimized. Here, we consider the problem ofdetermining UAV routes that lead to the minimum revisit time. The problem isNP-hard, and its computational difficulty increases with the fuel capacity ofthe UAV. We develop an algorithm to construct near-optimal solutions to theproblem quickly, when the fuel capacity exceeds a threshold. We also developlower bounds to the optimal revisit time and use these bounds to demonstrate(through numerical simulations) that the constructed solutions are, on anaverage, at most 0.01% away from the optimum.

Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct \& Remote Service Station