# Livestock Management on Grazing Field: A FANET Based Approach
## 3 Methodology
After the route is optimized, the obtained coverage time is 21.3 min, 21.1 min, and 19.2 min for UAV1, UAV2, and UAV3, respectively, against the initial 23.3 min, 25.1 min, and 25.2 min, respectively. As a result, the optimized route path successfully covers the mission area while lowering energy consumption. Due to the increased coverage duration, this has been a limiting problem for UAVs in grazing field observation. Between each trip, the setup time for landing operations, battery replacement, and take-off can take longer than the actual flight time. As a result, the quantity of survey area that can be flown in each operation is influenced immediately. Experts have proposed that for grazing field surveillance, UAVs with a better battery life for extended operation be used. As such, the flight time was extended from the conventional 30 min flight time of the Tello Edu to 40 min, 50 min, and 60 min to determine

Figure 10: The Effect of Setup Time on Coverage. Figure 9: UAV Coverage Time. the effect of flight time in UAV flight operation. Table 3 shows the results of altering the flight operation on the grazing field. As presented in Table 3, the relationship between flight time and coverage time is linear because an increase in flight time leads to a corresponding increase in the time spent on coverage. The result shows that as the flight time increases, the UAVs can sense and cover the area better, increasing the coverage time. Also, to see the effect of the setup time on the mission coverage time, one of the flight times was kept constant, and the setup was varied. The diagram in Figures 11 and 12 shows how the setup time during a mission affects the coverage time. From the figure presented, it is observed that as the setup time increases, the coverage time also increases. Looking at the effect of the setup time when UAVs are tasked to determine the optimal route, as presented in Figure 11, the diagram shows that the presented algorithm can effectively reduce the coverage time as the setup time increases. The obtained results using the map of the grazing field in terms of the land coverage were used to check the connectivity between the UAV nodes on the grazing field. This result was used in conjunction with the parameters presented in Table 2. The typical coverage distance of an embedded Wi-Fi in a UAV is between 60-140 m [31]. Therefore, if the distance between the UAVs exceeds the maximum range, communication will not be established between the UAVs. As such, 100 m was arbitrarily chosen to simulate the connection between the

Figure 11: The Effect of Setup Time on Coverage (optimal route). \begin{table}
\begin{tabular}{c c c} \hline \hline
**Flight Time (min)** & **Tin** & **Topt** \\ \hline \multirow{3}{*}{40} & UAV1 = 22.8387 & UAV1 = 20.8387 \\  & UAV2 = 24.7665 & UAV2 = 20.7665 \\  & UAV3 = 24.3536 & UAV3 = 18.3536 \\ \hline \multirow{3}{*}{50} & UAV1 = 23.6503 & UAV1 = 21.6503 \\  & UAV2 = 25.3484 & UAV2 = 21.3484 \\  & UAV3 = 25.2878 & UAV3 = 19.2878 \\ \hline \multirow{3}{*}{60} & UAV1 = 23.9816 & UAV1 = 21.9816 \\  & UAV2 = 25.9041 & UAV2 = 21.9041 \\ \cline{1-1}  & UAV3 = 25.5101 & UAV3 = 19.5101 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: UAV in Flight Operation. UAVs in the grazing field. The result obtained for the connectivity routing of the UAVs is presented in Figure 12.

As shown in Figure 12, the UAVs could intercommunicate in the grazing field to share resources, thereby cooperating to achieve the mission faster and more effectively. The number of nodes in the simulation was doubled to depict the fast-moving nature of UAV nodes. The use of a base station was also considered in the simulation, which depicts the farmer/end-user controlling the entire grazing field operation. This process demonstrates the cooperative communication of the entire operation on the grazing field using a real-life mapping scenario. The following section presents the conclusion drawn for the work and further research.