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Cooperative utilization of Unmanned Aerial Vehicles (UAVs) in public andmilitary surveillance applications has attracted significant attention inrecent years. Most UAVs are equipped with sensors that have bounded coverageand wireless communication equipment with limited range. Such limitations posechallenging problems to monitor mobile targets. This paper examines fulfillingsurveillance objectives to achieve better coverage while building a resilientnetwork between UAVs with an extended lifetime. The multiple target trackingproblem is studied by including a relay UAV within the fleet whose trajectoryis autonomously calculated in order to achieve a reliable connected networkamong all UAVs. Optimization problems are formulated for single-hop andmulti-hop communications among UAVs. Three heuristic algorithms are proposedfor multi-hop communications and their performances are evaluated. A hybridalgorithm, which dynamically switches between single-hop and multi-hopcommunications is also proposed. The effect of the time horizon considered inthe optimization problem is studied. Performance evaluation results show thatthe trajectories generated for the relay UAV by the hybrid algorithm canachieve network lifetimes that are within 5% of the maximum possible networklifetime which can be obtained if the entire trajectories of all targets wereknown a priori.

Resilient Mobile Multi-Target Surveillance Using Multi-Hop Autonomous UAV Networks for Extended Lifetime