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Package delivery via the UAVs is a promising transport mode to provideefficient and green logistic services, especially in urban areas or complicatedtopography. However, the energy storage limit of the UAV makes it difficult toperform long-distance delivery tasks. In this paper, we propose a novelmultimodal logistics framework, in which the UAVs can call on ground vehiclesto provide hitch services to save their own energy and extend their deliverydistance. This multimodal logistics framework is formulated as a two-stagemodel to jointly consider the incentive mechanism design for ground vehiclesand path planning for UAVs. In Stage I, to deal with the motivations for groundvehicles to assist UAV delivery, a dynamic pricing scheme is proposed to bestbalance the vehicle response time and payments to ground vehicles. It showsthat a higher price should be decided if the vehicle response time is long toencourage more vehicles to offer a ride. In Stage II, the task allocation andpath planning of the UAVs over traffic network is studied based on the vehicleresponse time obtained in Stage I. To address pathfinding with restrictions andthe performance degradation of the pathfinding algorithm due to the risingnumber of conflicts in multi-agent pathfinding, we propose the suboptimalconflict avoidance-based path search (CABPS) algorithm, which has polynomialtime complexity. Finally, we validate our results via simulations. It is shownthat our approach is able to increase the success rate of UAV package delivery.Moreover, we estimate the delivery time of the UAV in a pessimistic case, it isstill twice as fast as the delivery time of the ground vehicle only.

Incentive Mechanism and Path Planning for UAV Hitching over Traffic Networks