Cooperative Routing for an Air-Ground Vehicle Team -- Exact Algorithm, Transformation Method, and Heuristics
arXiv:1804.09546 · doi:10.1109/TASE.2019.2931894
Abstract
This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and an Unmanned Aerial Vehicle (UAV) that travel cooperatively and visit a set of targets while satisfying the communication constraints. The problem is formulated as a mixed-integer linear program, and a branch-and-cut algorithm is developed to solve the problem to optimality. Furthermore, a transformation method and a heuristic are also developed for the problem. The effectiveness of all the algorithms is corroborated through extensive computational experiments on several randomly generated instances.
12 pages. arXiv admin note: text overlap with arXiv:1605.09739