Sky and wire: A UAV-BPL synchronization algorithm for information exchange in herding operations.

Herding operations in rural areas often lack reliable wireless connectivity, hindering real-time monitoring of livestock, environmental conditions, and operational status. Existing solutions like satellite or cellular networks are costly or impractical, while short-range wireless technologies struggle with large farm coverage. This paper presents a UAV-BPL synchronization algorithm that uses the farm's existing electrical grid via Broadband over Power Line (BPL) communication to enable cost-effective, scalable data collection. The algorithm integrates Unmanned Aerial Vehicles (UAVs) with BPL relay points to optimize information exchange in herding operations. Two operational scenarios are proposed in the paper: the Coverage-Driven scenario that maximizes data collection from all sources, achieving 99.2% coverage and critical data redundancy, and the Priority-Driven scenario that focuses on high-urgency data, covering 100% of priority sources with ~12% energy consumption. The paper evaluates performance indicators such as coverage, energy usage, frequency of relay visits, and response timeliness using MATLAB simulations. Results demonstrate that the Coverage-Driven scenario excels in comprehensive monitoring, while the Priority-Driven scenario ensures energy-efficient, rapid responses to critical events. By combining BPL's robust connectivity with UAV mobility, the proposed method enhances farm management, scalability, and adaptability, offering a practical solution for rural dairy herding operations to improve productivity and sustainability.