A state-of-the-art commercial drones have typically battery limitations to support their operation. Effective battery management is one of the main enablers of practical drone system operations. This paper designs an energy-efficient monitoring drone-based scheduling algorithm to control the number of activation drones in a multi-drone system. This study focuses on reducing overlapping regions of the inter-drone monitoring area in terms of energy efficiency. We formulate this problem as finding a maximum weight independent set (MWIS) problem on a graph model and propose a real-time update of the message algorithm based on belief propagation. Our results showed that the proposed algorithm achieves significant improvements in energy consumption compared to the existing algorithm.
ACKNOWLEDGMENT This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the ITRC (Information Technology Research Center) support program (IITP-2020-2017-0-01637) supervised by the IITP (Institute for Information & communications Technology Promotion).This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the ITRC (Information Technology Research Center) support program (IITP-2020-2017-0-01637) supervised by the IITP (Institute for Information & communications Technology Promotion). All authors have equal contributions.