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In this paper, two new formulations are presented for trajectory optimization in the patrolling problem. It is assumed that the starting depot is not prespecified; an assumption that distinguishes the present work from the existing literature. A number of viewpoints are assigned to be visited in a certain sequence to minimize the total travel distance. The problem turns out to be a variant of the...
Two new formulations are presented in this paper for the minimum-time trajectories in the patrolling problem, where a number of robots are desired to patrol a given set of viewpoints in the shortest possible time. In the first problem, it is assumed that the starting depots and their corresponding robots are non-prespecified. In the second problem, it is desired to obtain the minimum-distance trajectories...
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