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arXiv · 1804.09546

Cooperative Routing for an Air-Ground Vehicle Team -- Exact Algorithm, Transformation Method, and Heuristics

Satyanarayana G. Manyam·Kaarthik Sundar·David W. Casbeer
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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.

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Satyanarayana G. Manyam, Kaarthik Sundar, David W. Casbeer. 2018-04-24. Cooperative Routing for an Air-Ground Vehicle Team -- Exact Algorithm, Transformation Method, and Heuristics. https://doi.org/10.1109/tase.2019.2931894

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