Abstract
In this paper, we propose Greedy Randomized Adaptive Search Procedure (GRASP) with Path Relinking extension for a solution of a novel problem formulation, the Dubins Team Orienteering Problem with Neighborhoods (DTOPN). The DTOPN is a variant of the Orienteering Problem (OP). The goal is to maximize collected reward from a close vicinity of given target locations, each with predefined reward, using multiple curvature-constrained vehicles, such as fixed-wing aircraft or VTOL UAVs with constant forward speed, each limited by route length. This makes it a very useful routing problem for scenarios using multiple UAVs for data collection, mapping, surveillance, and reconnaissance. The proposed method is verified on existing benchmark instances and by real experiments with a group of three fully-autonomous hexarotor UAVs that were used to compare the DTOPN with similar problem formulations and show the benefit of the introduced DTOPN.
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