In this paper we schedule the travel path of a set of drones across a graph where the nodes need to be visited multiple times at pre-defined points in time. This is an extension of the well-known multiple traveling salesman problem. The proposed formulation can be applied in several domains such as the monitoring of traffic flows in a transportation network, or the monitoring of remote locations to assist search and rescue missions. Aiming to find the optimal schedule, the problem is formulated as an Integer Linear Program (ILP). Given that the problem is highly combinatorial, the optimal solution scales only for small sized problems. Thus, a greedy algorithm is also proposed that uses a one-step look ahead heuristic search mechanism. In a detailed evaluation, it is observed that the greedy algorithm has near-optimal performance as it is on average at 92.06% of the optimal, while it can potentially scale up to settings with hundreds of drones and locations.

To appear in the 23rd IEEE International Conference on Intelligent Transportation Systems