1. How does Euclidean distance affect UAV take-off time and flying duration?
The simulation results show that the Euclidean distance of each drone to the SGCS during deployment affects the take-off time difference and the drones' flying time. The x-y coordinates position during deployment also plays a role in determining the flying duration. The position-oriented routing protocols govern the communication between the UAVs and the SGCS terminal, and the results indicate that information flow within the time notch decreases for the aggregation time notch due to the higher density of packets to be transmitted. This research provides insights into optimizing UAV deployment and routing protocols for efficient surveillance in petroleum pipeline areas.
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2. What is the position-based routing protocol?
The position-based routing protocol is an algorithm that enables UAVs and ground stations to exchange 'Hello' messages periodically. It assumes full-duplex links and slightly different energy levels among UAVs. The protocol involves network initialization, master drone initiation, node formation based on time notch, and connected route matrix updates. The information flow period varies depending on the established time notch, as illustrated in Figure 6. The protocol aims to optimize information flow and ensure efficient communication between UAVs and ground stations.
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3. What do the three lines in Figure 3 represent?
The three lines in Figure 3 represent the trajectories of the three drones. Each line indicates the path taken by a specific drone during its flight. The dots marked with an asterisk (*) on these lines signify the points where the drones broadcast their positions, including their x-y coordinates, speeds, energy levels, and direction. The pipe symbol at 1.22 meters on the y-axis denotes the height of the pipe surface above the ground. The drones' take-off point is located at 6.1 meters, which is the middle of the surveillance space. To enhance the clarity of the diagram, a +1 meter offset is added to the left of the x-axis.
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4. How are drones selected based on energy levels?
In the drone selection process, drones are chosen based on their energy levels. The code assigns the drone with the highest battery level as DM, the second highest as D1, and the lowest as D2. Figure 4 illustrates this selection, showing the energy levels of the first, second, and third drones (from the top view) as D1 with 14.9659 kJ, DM with 15.0173 kJ, and D2 with 14.8215 kJ respectively. This ensures that the drones with the highest energy are prioritized for tasks, optimizing their performance and efficiency.
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