Drucker, N., Penn, M. and Strichman, O. (2010) Cyclic Routing of Unmanned Aerial Vehicles. Technical Report, Faculty of Industrial Engineering and Management Technion—Israel Institute of Technology.
http://ie.technion.ac.il/tech_reports/1393234936_AUVSI-Abstract-31Aug2010-submitted.pdf

has been cited by the following article:

• TITLE: Performance Evaluation of Multiple Unmanned Aerial Vehicles Operating in General Regime with Shortage of Maintenance Facilities

  AUTHORS: Joseph Kreimer

  KEYWORDS: Markov Chain, Performance Effectiveness, Queuing, Real-Time Systems, Unmanned Aerial Vehicles

  JOURNAL NAME: Journal of Computer and Communications, Vol.4 No.10, August 22, 2016

  ABSTRACT: We consider a real-world problem of military intelligence unit equipped with multiple identical unmanned aerial vehicles (UAV) responsible for several regions (with requests of real-time jobs arriving from independent sources). We suppose that there are no ample maintenance facilities, allowing simultaneous treatment of all vehicles if necessary. Under certain assumptions, these real-time systems can be treated using a queueing theory methodology and/or as Markov chains. We show how to compute steady-state probabilities of these systems, their performance effectiveness, and various performance parameters (for exponentially distributed service and maintenance times of UAVs, as well as tasks duration and their arrival pattern).