A Novel and Efficient Algorithm for three-dimensional Coverage and Deployment of Aerial Robots in Vector Spaces

The maximum coverage sensor deployment problem has attracted researchers of engineering sciences always as one of the fundamental phases in developing of communication and geospatial infrastructures. In this research, a novel strategy is proposed to tackle the maximum coverage robotic sensor deployment task in 3D vector spaces. For this purpose, first, a geometric algorithm is developed in order to detect the covered areas. The water cycle optimization algorithm is utilized to maximize the sensor coverage. Then, to avoid the problem of premature convergence to local optima and to improve the efficiency and searching potential on the problem, an improved water cycle algorithm with dynamic operations and fewer parameters is designed and developed. With regard to several scenarios with different spatial constraints, the efficiency of the proposed algorithm is compared to other methods based on robustness, running time, best and average of the coverage results, standard deviation, convergence speed, and wilcoxon statistical test. The assessment of the results reveals the superior performance of the proposed approach by success rate of 73% and coverage of 80% in a

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