Robotik kablosuz duyarga ağlarında sınırlı kapasiteli pile sahip bir İHA ile verimlilik-farkında ve enerji-farkında veri toplama

This thesis investigates efficiency-aware and energy-aware data-collection problems by an unmanned aerial vehicle (UAV) with limited-capacity battery, in a clustered robot network. In each cluster, a cluster head (CH) robot allocates tasks to remaining robots and collects data from them. Firstly, we consider this problem by focusing on minimizing energy consumption of UAV coupled to minimum cost data collection from CH robots by visiting optimal portion of CH robots. UAV decides the CH robots to visit by considering both their locations and its battery capacity. If it cannot visit all CH robots, each nonvisited CH robot forwards its data to another CH robot. Cost optimization includes decision of transmission paths of transmitting robots. Optimal approach is derived, and total energy consumption of CH robots are compared for various numbers of clusters under different strategies. Secondly, we consider the problem by defining the priority set of CH robots which UAV needs to visit. We aim to minimize the total energy consumption of CH robots by visiting optimally a portion of CH robots including priority set. Energy consumptions of CH robots under different strategies are evaluated for various numbers of CH robots and priority sets. Thirdly, we tackle the problem by considering not only different locations but also different data efficiencies for different CH robots. We aim to minimize total joint cost of energy consumption and data efficiencies of CH robots by visiting optimal set of CH robots. Total joint costs of CH robots under different strategies are evaluated for various numbers of CH robots.