  This paper studies an unmanned aerial vehicle (UAV)-assisted wireless
network, where a UAV is dispatched to gather information from ground sensor
nodes (SN) and transfer the collected data to the depot. The information
freshness is captured by the age of information (AoI) metric, whilst the energy
consumption of the UAV is seen as another performance criterion. Most
importantly, the AoI and energy efficiency are inherently competing metrics,
since decreasing the AoI requires the UAV returning to the depot more
frequently, leading to a higher energy consumption. To this end, we design UAV
paths that optimize these two competing metrics and reveal the Pareto frontier.
To formulate this problem, a multi-objective mixed integer linear programming
(MILP) is proposed with a flow-based constraint set and we apply Bender's
decomposition on the proposed formulation. The overall outcome shows that the
proposed method allows deriving non-dominated solutions for decision making for
UAV based wireless data collection. Numerical results are provided to
corroborate our study by presenting the Pareto front of the two objectives and
the effect on the UAV trajectory.
