In commercial unmanned aerial vehicle (UAV) applications, one of the main restrictions is UAVs' limited battery endurance when executing persistent tasks. With the mature of wireless power transfer (WPT) technologies, by leveraging ground vehicles mounted with WPT facilities on their proofs, we propose a mobile and collaborative recharging scheme for UAVs in an on-demand manner. Specifically, we first present a novel air-ground cooperative UAV recharging framework, where ground vehicles cooperatively share their idle wireless chargers to UAVs and a swarm of UAVs in the task area compete to get recharging services. Considering the mobility dynamics and energy competitions, we formulate an energy scheduling problem for UAVs and vehicles under practical constraints. A fair online auction-based solution with low complexity is also devised to allocate and price idle wireless chargers on vehicular proofs in real time. We rigorously prove that the proposed scheme is strategy-proof, envy-free, and produces stable allocation outcomes. The first property enforces that truthful bidding is the dominant strategy for participants, the second ensures that no user is better off by exchanging his allocation with another user when the auction ends, while the third guarantees the matching stability between UAVs and UGVs. Extensive simulations validate that the proposed scheme outperforms benchmarks in terms of energy allocation efficiency and UAV's utility.

翻译：在商用无人机应用中，无人机在执行持续性任务时的主要限制之一是电池续航能力有限。随着无线能量传输技术的发展，利用地面车辆顶部安装的无线能量传输设施，我们提出了一种按需的移动协同无人机充电方案。具体而言，我们首先提出了一种新型的空地协同无人机充电框架，其中地面车辆协同共享其空闲无线充电器给无人机，而任务区域内的无人机群则竞争获取充电服务。考虑到移动动态性和能量竞争，我们在实际约束下制定了无人机和车辆的能量调度问题。我们还设计了一种低复杂度的公平在线拍卖方案，用于实时分配和定价车辆顶部的空闲无线充电器。我们严格证明了所提方案具有策略证明性、无嫉妒性，并能产生稳定的分配结果。第一种性质确保真实报价是参与者的主导策略，第二种性质保证在拍卖结束时没有用户能通过交换其分配与另一用户而获益，第三种性质则确保了无人机与地面车辆之间的匹配稳定性。大量仿真验证了所提方案在能量分配效率和无人机效用方面优于基准方案。