In this letter, we introduce a surveillance model for multi domain IoT environment, which is supported by reinforced barriers with collision-avoidance using heterogeneous smart UAVs. Formally, we define a problem whose goal is minimizing the maximum movement of smart UAVs on condition that collision-avoidance among UAVs is assured when they fly between initial positions and specific spots in order to build reinforced barrier in multi domain. After ILP formulation of the defined problem, a novel approach is proposed to solve the problem. Also, we analyze the performance of the developed scheme through extensive simulations with various scenarios.
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Kim et al. (2018) studied this question.