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Activities on Unmanned Aerial Vehicle (UAV) have increased over the last years and there are many fields in which UAVs can be used. One of the basic applications is reconnaissance of a given area using multiple UAVs. To perform reconnaissance mission, there are two methods: (i) path planning to navigate the pre-determined route; and (ii) random mobility method to explore without prior knowledge. In this paper, we indicate the imbalance problem of existing random mobility models for reconnaissance and propose a new model considering reconnaissance balance based on the number of visits. We divide the scanning area into N zones and then select a zone stochastically in which the search is insufficient. We evaluated the performance of the model by focusing on the coverage rate and average inter-visiting time. The proposed model shows that the 90%-coverage reaching time is improved by about 25% and the average inter-visiting time is improved by up to 15% compared to the previous approach.

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The Merak-Bakauheni Ferry Port is a connecting route between Java and Sumatra. With its role as a driver of economic growth between islands, it is hoped that the smooth movement of passengers and goods can take place effectively and efficiently. Research on the ferries at the Merak-Bakauheni route is carried out to analyse the movement of people and goods based on the time of service, the number of ferry boats, and the number of docks, so that changes can be implemented to ensure the ferry service is fast, precise, safe, and comfortable. Public transportation in the current era is a very important necessity for every community in supporting all activities and daily routines, PT. ASDP Indonesia Ferry Persero as a ferry operator plays an important role in organizing proper public transportation in our country. The main problem identified by this research is the absence of a safety standard for sea ferries transportation. The expected result with this research is to be able to take inventory of safety standards and to anticipate the extent of safety on the ferry so that recommendations can be formulated to prevent accidents in the future. Keywords: Ferry, Safety, Sea Ferries

Today, simulator technology has been widely used as an important part of quadrotor development such as validation and testing. A good quadrotor simulator can simulate the quadrotor system as closely as possible to the real one. Therefore, in case of multi-quadrotor simulator, the simulator should not only can simulate a multi-quadrotor system, but also every quadrotor should be able to leverage their own resources. To solve this issues, in this paper, we present a hypervisor-based multi-quadrotor simulator. We used RT-Xen as hypervisor, a real-time Xen hypervisor. To ensure every quadrotor runs in real-time manner, we implemented quadrotor simulator in Litmus-RT which is a real-time extension of Linux. In this paper, we conducted some testing and performance evaluation for particular cases on our multi-quadrotor simulator: step-input responses, computation time, and response times. Based on the performance evaluation, our hypervisor-based multi-quadrotor simulator environment is proven to meet the real-time requirements. The results show that three important tasks in quadrotor system: Stability Controllability Augmented System (SCAS), Equation of Motion (EOM), and waypoint following task, are finished before their deadlines; in fact, 20 ms, 10 ms, and 40 ms before the deadlines for SCAS, EOM, and waypoint following, respectively.