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In this paper, we study sensing data collection of IoT devices in a sparse IoT-sensor network, using an energy-constrained Unmanned Aerial Vehicle (UAV), where the sensory data is stored in IoT devices while the IoT devices may or may not be within the transmission range of each other. We formulate two novel data collection problems to fully or partially collect data stored from IoT devices using the UAV, by finding a closed tour for the UAV that consists of hovering locations and the sojourn duration at each of the hovering locations such that the accumulative volume of data collected within the tour is maximized, subject to the energy capacity on the UAV, where the UAV consumes energy on both hovering for data collection and flying from one hovering location to another hovering location. To this end, we first propose a novel data collection framework that enables the UAV to collect sensory data from multiple IoT …