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This article presents an approach to autonomous flight planning of Unmanned Aerial Vehicles (UAVs)-Drones as data collectors to the Internet of Things (IoT). We have proposed a model for only one aircraft, as well as for multiple ones. A clustering technique that extends the scope of the number of IoT devices (e.g., sensors) visited by UAVs is also addressed. The flight plan generated from the model focuses on preventing breakdowns due to a lack of battery charge to maximize the number of nodesdoi:10.3390/s21227735 pmid:34833810 pmcid:PMC8618574 fatcat:ogjj4qqsh5e4phuvcp4kmcxy3e