• Electrical Engineering and Systems Science > Systems and Control [Submitted on 21 Jan 2026] Title:Close-enough general routing problem for multiple unmanned aerial vehicles in monitoring missions View PDF HTML (experimental)Abstract:In this paper, we introduce a close-enough multi-UAV general routing problem (CEMUAVGRP) where a fleet of homogeneous UAVs conduct monitoring tasks containing nodes, each of which has its disk neighborhood, and edges, aiming to minimize the total distance. • A two-phase iterative method is proposed, partitioning the CEMUAVGRP into a general routing phase where a satisfactory route including required nodes and edges for each UAV is obtained without considering the disk neighborhoods of required nodes, and a close-enough routing phase where representative points are optimized for each required node in the determined route. • To be specific, a variable neighborhood descent (VND) heuristic is proposed for the general routing phase, while a second-order cone programming (SOCP) procedure is applied in the close-enough routing phase. • These two phases are performed in an iterative fashion under the framework of an adaptive iterated local search (AILS) algorithm until the predefined termination criteria are satisfied. • Extensive experiments and comparative studies are conducted, demonstrating the efficiency of the proposed AILS-VND-SOCP algorithm and the superiority of disk neighborhoods. • Current browse context: eess.SY References & Citations export BibTeX cita
Electrical Engineering and Systems Science > Systems and Control [Submitted on 21 Jan 2026] Title:Close-enough general routing problem for multiple unmanned aerial vehicles in monitoring missions View PDF HTML (experimental)Abstract:In this paper, we introduce a close-enough multi-UAV general routing problem (CEMUAVGRP) where a fleet of homogeneous UAVs conduct monitoring tasks containing nodes, each of which has its disk neighborhood, and edges, aiming to minimize the total distance.
Article Summaries:
- A new study introduces the Close‑Enough Multi‑UAV General Routing Problem (CEMUAVGRP), a framework for coordinating fleets of identical drones on monitoring missions that require visiting nodes with disk‑shaped neighborhoods and traversing specific edges. The authors propose a two‑phase iterative algorithm: a general routing phase that generates satisfactory routes using a Variable Neighborhood Descent (VND) heuristic, followed by a close‑enough routing phase that refines representative points for each node via Second‑Order Cone Programming (SOCP). These phases are embedded in an Adaptive Iterated Local Search (AILS) loop until convergence. Extensive experiments demonstrate that the AILS‑VND‑SOCP approach outperforms existing methods, highlighting the benefit of incorporating disk neighborhoods.
- A recent study introduces the Close‑Enough Multi‑UAV General Routing Problem (CEMUAVGRP), targeting fleets of identical drones that must visit monitoring nodes with disk‑shaped neighborhoods while minimizing travel distance. The authors propose a two‑phase iterative framework: first, a Variable Neighborhood Descent (VND) heuristic generates a satisfactory route ignoring the exact neighborhood constraints; second, a Second‑Order Cone Programming (SOCP) step refines representative points for each node within the route. These phases are embedded in an Adaptive Iterated Local Search (AILS) loop until convergence. Extensive experiments demonstrate that the AILS‑VND‑SOCP algorithm outperforms existing methods, highlighting the advantage of incorporating disk neighborhoods.
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