Yedilkhan, D., Kyzyrkanov, A., Amirgaliyev, B., Khaimuldin, N., Ayub, M. S., & Zhumadillayeva, A. Efficient area coverage strategies for high-altitude UAVs in smart city monitoring // Drones. – 2025. – Vol. 9. – P. 632. – DOI: 10.3390/drones9090632.

Abstract:
This scientific article presents an innovative approach to optimizing routes of high-altitude unmanned aerial vehicles (UAVs) for effective monitoring of smart cities. The main proposed method is based on the ant colony optimization (ACO) algorithm with the implementation of an inverse pheromone mechanism—a repulsion-based exploration strategy. Unlike standard pheromones that encourage exploitation of frequently visited paths, this approach promotes exploration of unvisited areas by repelling UAVs from undesirable route sections, allowing UAVs to adapt more efficiently to dynamic changes in the urban environment. The authors developed a simulation system in the Webots environment, taking into account numerous factors: atmospheric conditions at high altitudes, potential for improved energy efficiency, urban development features, and priority of observation zones. Simulation results demonstrate that the proposed algorithm using inverse pheromones provides more effective area coverage compared to traditional route-planning methods, which may contribute to reduced UAV energy consumption and optimizing the monitoring process in real time. The research makes a significant contribution to the development of smart city technologies, offering a solution that can be integrated with existing urban monitoring systems to improve the efficiency of urban infrastructure observation, enhance security, and optimize urban resource management.

Link / DOI: https://doi.org/10.3390/drones9090632