TY - JOUR
T1 - Real-Time Optimal Mission Scheduling and Flight Path Selection
AU - Kim, Yoonsoo
AU - Gu, Da-Wei
AU - Postlethwaite, Ian
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
U2 - 10.1109/TAC.2007.899048
DO - 10.1109/TAC.2007.899048
M3 - Article
SN - 0018-9286
VL - 52
SP - 1119
EP - 1123
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 6
ER -