Multi-UAV Cooperative Assisted RSU Data Acquisition Strategy considering Coverage Quality

Table 4

Task cost and coverage rate under different scenarios.

RSU number	UAV number	Total weight	Task cost	Coverage rate
30	2	78	51.33	0.86
	3		42.81	0.93
	4		43.80	0.94
	5		45.98	0.97
50	2	127	68.17	0.79
	3		63.01	0.84
	4		53.94	0.91
	5		57.47	0.93
70	2	180	91.88	0.67
	3		78.97	0.72
	4		70.51	0.80
	5		72.83	0.86
100	2	226	117.86	0.64
	3		96.87	0.69
	4		87.10	0.73
	5		79.92	0.78