The In‐Transit Vigilant Covering Tour Problem for Routing Unmanned Ground Vehicles

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The In‐Transit Vigilant Covering Tour Problem for Routing Unmanned Ground Vehicles

Tan, Huang Teng / Hill, Raymond R.

One area of interest in the maximization of observability in navigation for autonomous robotic control (MONARC) project is mission planning for base security protection of key installations (KINs) from adversarial intrusions using autonomous unmanned ground vehicles (UGVs). When adversarial locations are sensed by UGVs at their route location, the problem is a covering tour problem (CTP). A new variant of the multiple vehicle covering tour problem (mCTP) model called the in‐transit vigilant covering tour problem (VCTP) is used as a mission planning tool for base security applications. The single vehicle version is evaluated to assess the viability of the VCTP. This chapter describes the new variant of the CTP for a generic base security defense scenario, which considers coverage by both visited vertices and traveled edges. It also discusses the extension of the VCTP to an mVCTP, and presents the mathematical development of the VCTP.