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Real-Time Optimal Mission Scheduling and Flight Path Selection

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3 Author(s)
Yoonsoo Kim ; Univ. of Leicester, Leicester ; Da-Wei Gu ; Ian Postlethwaite

We consider a mission in which m UAVs with a capacity limit q each visit n(les mq) targets in a hostile environment in a cooperative manner (and return to where they departed from) such that the cost reflecting operating time and risk exposed is minimized. We first propose a mixed-integer linear programming (MILP) formulation which exactly solves the problem and then propose four alternative MILP formulations which are computationally less intensive and, therefore, suited for real-time purposes, but yield a theoretically guaranteed suboptimal solution. The main contributions of this note are an exact but compact MILP formulation, using a room concept, and four nonexact formulations, each one of which ensures a certain level of solution quality and relatively fast computational time for the considered real-time mission scheduling problem.

Published in:

IEEE Transactions on Automatic Control  (Volume:52 ,  Issue: 6 )