Efficient Drone Data Collection in WSNs: ILP and mTSP Integration with Quality Assessment ^†

The proliferation of wireless sensor networks in remote and inaccessible areas demands efficient data collection approaches that minimize energy consumption while ensuring comprehensive coverage. Traditional data retrieval methods face significant challenges when sensors are sparsely distributed across extensive areas, particularly in scenarios where direct sensor access is impractical due to terrain constraints or operational limitations. This research addresses these challenges through a novel hybrid optimization framework that combines integer linear programming (ILP) with multiple traveling salesperson problem (mTSP) algorithms for drone-based data collection in wireless sensor networks (WSNs). The methodology employs a two-phase approach, where ILP optimally determines strategic access point locations for sensor clustering based on communication capabilities, followed by mTSP optimization to generate efficient inter-AP flight trajectories rather than individual sensor visits. Comprehensive simulations across diverse network configurations and drone quantities demonstrate consistent performance improvements, with travel distance reductions reaching 32% compared to conventional mTSP implementations. Comparative evaluation against established clustering algorithms including Voronoi, DBSCAN, Constrained K-Means, Graph-Based clustering, and Greedy Circle Packing confirms that ILP consistently achieves optimal access point allocation while maintaining superior routing efficiency. Additionally, a novel quality assessment metric quantifies sensor grouping effectiveness, revealing that ILP-based clustering advantages become increasingly pronounced with higher sensor densities, providing substantial operational benefits for large-scale wireless sensor network deployments.