{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T16:11:04Z","timestamp":1772727064340,"version":"3.50.1"},"reference-count":43,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2020,5,14]],"date-time":"2020-05-14T00:00:00Z","timestamp":1589414400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"5G-City","award":["TEC2016-76795-C6-3-R"],"award-info":[{"award-number":["TEC2016-76795-C6-3-R"]}]},{"name":"H2020 5GRANGE","award":["777137"],"award-info":[{"award-number":["777137"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Nowadays, Unmanned Aerial Vehicles (UAV) are frequently present in the civilian environment. However, proper implementations of different solutions based on these aircraft still face important challenges. This article deals with multi-UAV systems, forming aerial networks, mainly employed to provide Internet connectivity and different network services to ground users. However, the mission duration (hours) is longer than the limited UAVs\u2019 battery life-time (minutes). This paper introduces the UAV replacement procedure as a way to guarantee ground users\u2019 connectivity over time. This article also formulates the practical UAV replacements problem in moderately large multi-UAV swarms and proves it to be an NP-hard problem in which an optimal solution has exponential complexity. In this regard, the main objective of this article is to evaluate the suitability of heuristic approaches for different scenarios. This paper proposes betweenness centrality heuristic algorithm (BETA), a graph theory-based heuristic algorithm. BETA not only generates solutions close to the optimal (even with 99% similarity to the exact result) but also improves two ground-truth solutions, especially in low-resource scenarios.<\/jats:p>","DOI":"10.3390\/s20102791","type":"journal-article","created":{"date-parts":[[2020,5,14]],"date-time":"2020-05-14T10:27:19Z","timestamp":1589452039000},"page":"2791","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Energy-Aware Management in Multi-UAV Deployments: Modelling and Strategies"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3079-736X","authenticated-orcid":false,"given":"Victor","family":"Sanchez-Aguero","sequence":"first","affiliation":[{"name":"IMDEA Networks Institute, Avda. del Mar Mediterr\u00e1neo, 22, 28918 Madrid, Spain"},{"name":"Departamento de Ingenier\u00eda Telem\u00e1tica, Universidad Carlos III de Madrid, Avda. Universidad, 30, 28911 Legan\u00e9s, Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5056-0573","authenticated-orcid":false,"given":"Francisco","family":"Valera","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda Telem\u00e1tica, Universidad Carlos III de Madrid, Avda. Universidad, 30, 28911 Legan\u00e9s, Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7381-971X","authenticated-orcid":false,"given":"Ivan","family":"Vidal","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda Telem\u00e1tica, Universidad Carlos III de Madrid, Avda. Universidad, 30, 28911 Legan\u00e9s, Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8655-325X","authenticated-orcid":false,"given":"Christian","family":"Tipantu\u00f1a","sequence":"additional","affiliation":[{"name":"Department of Network Engineering, Universitat Polit\u00e8cnica de Catalunya, Calle Jordi Girona 1-3, E-08034 Barcelona, Spain"},{"name":"Escuela Polit\u00e9cnica Nacional, Ecuador, Avda. Ladr\u00f3n de Guevara, E11-253 Quito, Ecuador"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7888-3603","authenticated-orcid":false,"given":"Xavier","family":"Hesselbach","sequence":"additional","affiliation":[{"name":"Department of Network Engineering, Universitat Polit\u00e8cnica de Catalunya, Calle Jordi Girona 1-3, E-08034 Barcelona, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2020,5,14]]},"reference":[{"key":"ref_1","unstructured":"Federal Aviation Administration (2020, March 25). 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