Connected Ad-Hoc swarm of drones

In this paper, we study the following connected version of the covering problem motivated by the coverage of ad-hoc drones' swarm: Let S be a set of n non-negative weighted points in the plane representing users. Also, consider a set P of m equal radius disks that correspond to the covering radius of each drone. We want to place a set P such that the sum of the weights of the points in S covered by disks from P is maximized and the centers of disks from P form a connected graph, where two centers are connected if the distance between them is at most given value RCOM. We also consider the case of forbidden for fly zones. We present a number of approximate solutions showing trade-off between the quality of coverage and the number of participating drones.

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