Real-Time Optimal Mission Scheduling and Flight Path Selection

Yoonsoo Kim, Da-Wei Gu, Ian Postlethwaite

    Research output: Contribution to journalArticlepeer-review

    61 Citations (Scopus)


    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.
    Original languageEnglish
    Pages (from-to)1119-1123
    JournalIEEE Transactions on Automatic Control
    Issue number6
    Publication statusPublished - 2007


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