Abstract
The Vehicle Routing Problem (VRP) and several of its variants have been used as an algorithmic basis for mission planning and trajectory generation for Uninhabited Aerial Vehicles (UAVs). This paper proposes a new class of problems that generalizes the standard VRP to incorporate more complex mission specifications, for example relative timing constraints on the completion of tasks. These timing constraints are specified using the Linear Temporal Logic language LTL−X. A systematic procedure is presented that converts a given set of LTL−X specifications into a set of constraints suitable to a Mixed-Integer Linear Programming (MILP) formulation of optimal mission planning problems. The application of this new variant of VRP to complex mission planning and UAV-routing problems are also considered by employing two different MILP formulations of VRP commonly used in related literature. Examples of UAV mission planning problems are discussed in detail.
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