  Drones have a fairly short range due to their limited battery life. We
propose an adaptive exploration techniques to extend the range of drones by
taking advantage of physical structures such as tall buildings and trees in
urban environments. Our goal is to extend the coverage of a drone delivery
service by generating paths for a drone to reach its destination while learning
about the energy consumption on each edge on its path in order to optimize its
range for future missions. We evaluated the performance of our exploration
strategy in finding the set of all reachable destinations in a city, and found
that exploring locations near the boundary of the reachable sets according to
the current energy model can speed up the learning process.
