Path Planning for Multi-Vehicle-Assisted Multi-UAVs in Mobile Crowdsensing

Table 1

Notation and terminology.

Notation	Definition
	The set of parking spots
	The set of detecting points
	The number of parking spots
	The number of detecting points
	The distance between two different points
	The set of ground vehicles
	The set of UAVs that the vehicle possesses
	The number of ground vehicles
	The set of detecting points assigned to the vehicle
	The set of detecting points assigned to the parking spot
	The speed of ground vehicles
	The speed of UAVs
	The max flight distance of UAVs
	The budget of time
	The number of drones of the vehicle
	The flight path of at the parking spot
	The flight paths of drones possessed by vehicle at the parking spot
	Binary indicating whether the route contains the detecting point
	Binary indicating whether and are adjacent in the route
	The total distance that all drones of the vehicle travels at the parking spot
	The route of the vehicle
	The travel distance of the vehicle
	The time consumed by the vehicle with its drones in the whole sensing mission
	The total incentive rewards earned by the vehicle with its drones