On collision-free reinforced barriers for multi domain IoT with heterogeneous UAVs

Thanks to advancement of vehicle technologies, Unmanned Aerial Vehicle (UAV) now widely spread over practical services and applications affecting daily life of people positively. Especially, multiple heterogeneous UAVs with different capabilities should be considered since UAVs can play an important role in Internet of Things (IoT) environment in which the heterogeneity and the multi domain of UAVs are indispensable. Also, a concept of barrier-coverage has been proved as a promising one applicable to surveillance and security. In this paper, we present collision-free reinforced barriers by heterogeneous UAVs to support multi domain. Then, we define a problem which is to minimize maximum movement of UAVs on condition that a property of collision-free among UAVs is assured while they travel from current positions to specific locations so as to form reinforced barriers within multi domain. Because the defined problem depends on how to locate UAVs on barriers, we develop a novel approach that provides a collision-free movement as well as a creation of virtual lines in multi domain. Furthermore, we address future research topics which should be handled carefully for the barrier-coverage by heterogeneous UAVs.