2953. A Mathematical Model for Drone Coverage Path Planning
Invited abstract in session MB-58: Optimization with Drones, stream Vehicle Routing and Logistics.
Monday, 10:30-12:00Room: Liberty 1.13
Authors (first author is the speaker)
| 1. | Dell'Olmo Paolo
|
| Dipartimento di Statistica, Probabilità, Statistiche applicate, University of Rome La Sapienza | |
| 2. | Lavinia Amorosi
|
| Statistical Sciences, Sapienza | |
| 3. | Justo Puerto
|
| Estadistica e I.O., Universidad de Sevilla | |
| 4. | Carlos Valverde
|
| University of Seville |
Abstract
We face the problem of finding a set of tours a drone, starting and ending at the depot, must perform to cover non overlapping areas represented by polygons in the plane, taking into account the drone limited endurance. We present a second order cone mixed-integer programming formulation for this monitoring system. The proposed formulation embeds the drone altitude selection from a set of possible values associated with each area. This is motivated by the necessity to inspect each area with different levels of precision. Moreover, it is assumed that there is a set of points, with limited cardinality, associated with each area, from where the drone can interrupt the monitoring and exit to reach another area where the same process can be repeated. When the drone attains its minimum energy level, it must go back to the depot to swap battery and start a new tour, until all the areas have been covered. The optimization is performed by minimizing the total completion time. Preliminary computational results on a testbed of artificial instances are presented together an analysis of the obtained solutions.
Keywords
- Logistics
- Mathematical Programming
- Programming, Mixed-Integer
Status: accepted
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