Adaptive Drone Sensing with Always Return-To-Home Guaranteed

In this paper, we proposed an Adaptive Return-to-Home Sensing (ARS) algorithm for a drone sensing system deployed in an open area with missions to conduct periodic environmental sensing. ARS scheme is able to conduct as many rounds of environmental sensing without drastic oscillation between consecutive sensing attempts while reserve sufficient energy for the drone to fly back home. We evaluate the ARS scheme under environmental difficulties. The results demonstrate the proposed scheme can conduct as many rounds of environmental sensing as possible without drastic oscillation while preserve enough energy for the done to return home.