# Livestock Management on Grazing Field: A FANET Based Approach
## 3 Methodology
```
Input: number of UAVs (N), Map
1 Capture map area
2 Initialize flying path P = 1 based on map coordinate obtained
3 Compute image width using Equation (4)
4 Compute image length using Equation (5)
5 Initialize UAV node deployment
6 Get a neighbor set of UAVs
7 for\(U_{N}\in\mathcal{C}_{R}\)do
8\(d_{R}=\frac{H}{\mathcal{C}_{i}}\)
9 Establish a UAV flying path
10 If at least one path exists, then
11 Continue
12 else
13 path = 0 then stop
14 endif
15 endfor Output: Coverage region, time, flight path

\[C_{L}=H_{G}\frac{W_{D}}{F_{L}} \tag{1}\]3 Grazing Field Movement Scenario. The simulation parameters for the grazing field coverage are presented in \[C_{L}=H_{G}\frac{W_{D}}{F_{L}} \tag{1}\]4 Some of these are the parameters obtained from the Tello Edu drone datasheet. The UAVs in FANET are expected to communicate with each other. This expectation becomes necessary to achieve effective communication. Communication is key between multiple UAVs that require a specific routing protocol [26]. Since the grazing field is a process of surveying the field perimeter so that live stock will not move out of the field and violate governmental laws and policies, there is a need for the UAVs to communicate with each other as well as the base station. Hence, the paper proposes a system whereby the captured images are dynamically shared between multiple UAVs under wireless mesh networking using the communication protocol presented in [26]. This data sharing will make task cooperation and sharing between the UAVs efficient. The operation of sequence for the UAV-based FANET communication is depicted in \[C_{L}=H_{G}\frac{W_{D}}{F_{L}} \tag{1}\]5 \begin{table}
\begin{tabular}{c c} \hline \hline
**Parameters** & **Value** \\ \hline \(FOV_{h}\) & 84.6 \\ \(FOV_{V}\) & 73.7 \\ Resolution & 2592 \(\times\) 1944 \\ Number of UAV & 3 \\ UAV setup time & 60 sec \\ UAV flight time & 30 min \\ flight height & 10 m \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Simulation Parameters. Figure 5: Operation Sequence for the UAV-based FANET communication. As shown in Figure 5, the UAV-based FANET communication is achieved if data is captured. The diagram shows that the UAVs in the FANET operation communicate with one another for information exchange. Provided that the data is captured in the required format, the data are then stored in the UAV for relaying to nodes or base stations. The routing protocol used to share the captured information from the UAVs in the grazing field monitoring was a Specific Routing Protocol for Flying Adhoc Network, which was coined from the standard Ad Hoc On-Demand Distance Vector (AODV) as detailed in [26; 27]. The standard AODV is a loop-free routing system designed to self-start in a network of nodes and withstand a variety of network behaviors such as node connection failures, mobility, and packet losses. At each node, AODV retains a routing table. In a destination's routing table entry, a next-hop node, a sequence number, and a hop count are needed fields. The next-hop node receives all packets headed for the destination. The sequence number is a time-stamping system that measures the freshness of a route. The hop count represents the current distance to the target node [30]. For connectivity purposes, a path for routing between the FANET nodes must be established, similar to a graph \(G=(V,E)\), consisting of a set of nodes and vertices \((a,b)\). Mathematically the probability that a connectivity path will exist is given as:

\[G(N,\gamma_{ab})=\left(\Lambda_{N},F_{N},\gamma_{N,\gamma_{ab}}\right) \tag{9}\]

where; \(\Lambda_{N}=\{G=G(V,E)\}\), \(F_{N}=2^{N},\gamma_{N,\gamma_{ab}}(G)=\prod_{(ab)\in E}\gamma_{ab}\prod_{(ab) \in E}(1-\gamma_{ab})\), \(\gamma_{ab}\) is the probability of determining an edge between vertices \(a\) and \(b\), and \(E\) is the random set of edges. When the UAV node is static, the graph is also static. Therefore, \(G\{H_{N},\gamma\}\), \(H_{N}=(V,E_{N})\) where:

\[\gamma_{ab}= \begin{cases}\gamma,(a,b)\in E\\ \gamma,(a,b)\
otin E\end{cases}