## 5 Numerical Example, Results and Discussion
### Numerical Example and Results
Figure 11: Checking the condition \(\mathbf{h}\) for UAVs by rescheduling the only nR. Figure 12: An illustration showing that adding nR satisfies the collision avoidance constraint. Figure 14: The average end time of sub-missions in minutes when the number of customers per route and fleet size is changing for sub-missions. Figure 13: Average total distance travelled in km when the number of customers per route and fleet size is changing for sub-missions. Figure 8:0 Customer satisfaction levels for the sub-missions created at different wind speeds. The customer satisfaction levels are shown in Figure 16 for different wind directions for sub-missions having different fleet sizes and numbers of customers per route. It shows how the different combinations of fleet sizes and numbers of customers per route are changing regarding the changes in wind direction for a given wind speed. These results can be used to choose the parameters for sub-missions depending on the weather conditions in the FTW. The length of the FTWs regarding the changes in the number of customers per route and the UAV fleet size without putting the collision avoidance constraint is shown in Figure 8:1 This data can be used to analyze the increased percentage of the length of FTWs in comparison with the scenarios where the collision avoidance constraints are considered. The obtained flight mission for the first, second and last FTWs are shown in Figures 18-20. The colored lines (blue line, orange line and purple line) are corresponding to the routes of the UAVs  
Figure 8:2 Customer satisfaction levels for the sub-missions created for different wind directions and with different combinations of fleet size and numbers of customers per route. Figure 8:3 The increased percentage of length of FTWs because of collision avoidance. and the customers' satisfaction levels are shown for each FTW where by the last FTW it shows that all the customers are fully satisfied by the output. Figure 8:4 Obtained flight-mission plan for the second FTW. Figure 8:5 Obtained flight-mission plan for the last FTW. Based on the experiment results, sub-missions having different combinations of fleet size and numbers of customers per route could be used to deliver similar amounts of customer demands. However, depending on the length of FTWs different sub-missions can be chosen to execute the missions. It is observed that the collision avoidance constraint increases the flying time of the sub-missions and if a different network can be used where there is less crossing between flying corridors, then the flying time of sub-missions will be reduced, compared to the current network. Hence, the nature of the network influences the results of the creation of sub-missions. Based on the results shown in Figure 14, the sub-missions having different parameters for fleet size and numbers of customers per route can be used to deliver materials to the customers, depending on the length of FTWs. Figures 16 and 17 indicate that different combinations of fleet size and numbers of customers per route are changing concerning the changes in wind direction and wind speed. These results can be used to choose the parameters for sub-missions depending on the weather conditions in the FTW.