# Routing Protocols for UAV-Aided Wireless Sensor Networks
## 5 Comparison of Routing Protocols
The performance metrics, performance optimization, and application domains of integrated UAWSNs are synthesized in Table 5. It can be inferred from Table 5 that most of the protocols focus on energy consumption, efficient data transmission, and network coverage. \begin{table}
\begin{tabular}{l l l l l l l} \hline \hline
**Protocol** & **Topology** & **Mobility Pattern** & **Location Awareness** & **Data Transmission** & **Scalability** & **Fault Tolerance** \\ \hline HHA & Flat & Random & Yes & Multi-hop & Low & No \\ \hline SN-UAV & Flat & Optimized & Yes & Single-hop & Moderate & No \\ \hline UAV-WSN & Flat & Predefine & Yes & Single-hop & Low & No \\ \hline UAV-AS-MS & Flat & Reference point & Yes & Single-hop & Moderate & No \\ \hline UISN & ISN & Pre-defined & Yes & Multi-hop & Moderate & Yes \\ \hline URP & Cluster-based & Controlled & Yes & Single-hop & Low & No \\ \hline C-UAV-WSN & Cluster-based & Pre-defined & Yes & Single-hop & Moderate & No \\ \hline rHEED & Cluster-based & Controlled & No & Multi-hop & High & No \\ \hline UADG & Cluster-based & Random & No & Multi-hop & Low & No \\ \hline DPBA & Cluster-based & Controlled & No & Single-hop & Low & No \\ \hline EEDGF & Cluster-based & Random & Yes & Single-hop & Moderate & No \\ \hline PCDG & Cluster-based & Random & No & Multi-hop & Moderate & No \\ \hline ADCP & Tree-based & Random & Yes & Multi-hop & High & No \\ \hline H-UAV-WSN & Tree-based & Pre-defined & Yes & Multi-hop & High & No \\ \hline TADA & Tree-based & Random & No & Single-hop & High & No \\ \hline UAV-CDG & Tree-based & Reference point & No & CDG & High & Yes \\ \hline EEJIS-WSN-UAV & Position & Random & Yes & Multi-hop & High & No \\ \hline LS-UAV-WSN & Cluster-based & Direct & Yes & Multi-hop & Moderate & No \\ \hline PSO-WSN-UAV & Cluster-based & Optimized & Yes & Multi-hop & High & Yes \\ \hline FSRP & Cluster-based & Controlled & Yes & Multi-hop & High & Yes \\ \hline EFUR-WSN & Cluster-based & Reference point & No & Multi-hop & High & No \\ \hline
**Protocol** & **Comm. Reliability** & **End-to-End Delay** & **Load Balancing** & **Energy Efficiency** & **Multi-Path** & **No. of UAVs** \\ \hline HHA & Low & Moderate & No & Moderate & No & Multiple \\ \hline SN-UAV & Moderate & Low & No & High & No & Single \\ \hline UAV-WSN & Moderate & Moderate & No & Moderate & No & Multiple \\ \hline UAV-AS-MS & High & Low & Yes & High & No & Multiple \\ \hline UISN & High & Low & No & High & No & Multiple \\ \hline URP & Moderate & Moderate & No & Moderate & No & Single \\ \hline C-UAV-WSN & Low & Low & No & High & No & Single \\ \hline rHEED & High & Low & Yes & High & No & Single \\ \hline UADG & Low & Moderate & No & Low & No & Single \\ \hline DPBA & Low & Moderate & No & Moderate & No & Multiple \\ \hline EEDGF & Moderate & Low & No & High & No & Multiple \\ \hline PCDG & Moderate & Moderate & No & High & Yes & Single \\ \hline ADCP & High & Low & No & Low & Yes & Multiple \\ \hline H-UAV-WSN & High & Moderate & No & Low & No & Multiple \\ \hline TADA & High & Moderate & Yes & High & Yes & Single \\ \hline UAV-CDG & High & Low & Yes & High & No & Single \\ \hline EEJIS-WSN-UAV & High & Low & No & High & Yes & Multiple \\ \hline LS-UAV-WSN & Moderate & Low & No & High & No & Single \\ \hline PSO-WSN-UAV & High & Low & No & High & Yes & Multiple \\ \hline FSRP & High & Low & Yes & High & Yes & Single \\ \hline EFUR-WSN & High & Low & No & High & Yes & Single \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Comparison of routing protocols for UAWSNs.