The Use of Drones for Collecting Information and Detecting Bugs in Orchards Covered by Nets is a Challenging Problem. the Nets Help in Reducing Pest Damage, But They Also Constrain the Drone's Flight Path, Making It Longer and More Complex. to Address This Issue, We Model the Orchard as an Aisle-Graph, a Regular Data Structure that Represents Consecutive Aisles Where Trees Are Arranged in Straight Lines. the Drone Flies Close to the Trees and Takes Pictures at Specific Positions for Monitoring the Presence of Bugs, But its Energy is Limited, So It Can Only Visit a Subset of Positions. to Tackle This Challenge, We Introduce the Single-Drone Orienteering Aisle-Graph Problem (SOAP), a Variant of the Orienteering Problem, Where Likely Infested Locations Are Prioritized by Assigning Them a Larger Profit. Additionally, the Drone's Movements Have a Cost in Terms of Energy, and the Objective is to Plan a Drone's Route in the Most Profitable Locations under a Given Drone's Battery. We Show that SOAP Can Be Optimally Solved in Polynomial Time, But for Larger Orchards/instances, We Propose Faster Approximation and Heuristic Algorithms. Finally, We Evaluate the Algorithms on Synthetic and Real Datasets to Demonstrate their Effectiveness and Efficiency.


Computer Science


Ministero delle Politiche Agricole Alimentari e Forestali, Grant 1952045

International Standard Serial Number (ISSN)

1550-4867; 1550-4859

Document Type

Article - Journal

Document Version


File Type





© 2024 Association for Computing Machinery (ACM), All rights reserved.

Publication Date

23 Apr 2024