*2.3. Objective*

Drones are considered to be resourced constrained devices; therefore, it is important that our cost function puts an emphasis on maximizing the utility of a drone in one charge cycle, while ensuring that it can safely return back to the drone to charge. Thus, the objective function is to minimize the number of drone ports in a given area to serve as many tasks as possible. Then, we analyze the result by applying various traveling salesman algorithms to see which algorithm maximizes the number of tasks that can be completed subject to task delay and energy constraints.
