Abstract
This paper introduces a grouping and routing problem of multiple agents for cooperative missions. The introduced problem, referred to as the Vehicle Grouping and Routing Problem with Profits, aims to maximize the total reward obtained by conducting a multi-agent mission (e.g., cooperative reconnaissance) while reducing its makespan by appropriately grouping the agents and determining their routes under operational constraints (e.g., fuel, endurance). A mixed-integer linear programming formulation and a conservative column generation-based solution procedure for the problem are proposed. A case study with homogeneous and heterogeneous agents and numerical experiments involving a cooperative reconnaissance mission with multiple unmanned aerial vehicles demonstrate the validity of the proposed formulation and solution procedure.
Published Version
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