We consider the problem of assigning tasks and related trajectories to a fleet of drones, in critical scenarios
requiring early anomaly discovery and intervention. Drones visit target points in consecutive trips, with recharging and data
Abstract—Fleets of cooperative drones are a powerful tool in monitoring critical scenarios requiring early anomaly discovery and
intervention. Due to limited energy availability and application requirements, drones may visit target points in consecutive trips, with
recharging and data offloading in between. To capture timeliness of intervention and prioritize early coverage, we propose the new
notion of Weighted Progressive Coverage, which is based on the definition of time dependent weights. Weighted progressive coverage
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