UAVs are increasingly being employed to carry out surveillance, parcel delivery, communication-support and other specific tasks. Their equipment and mission plan are carefully selected to minimize the carried load an overall resource consumption. Typically, several single task UAVs are dispatched to perform different missions. In certain cases, (part of) the geographical area of operation may be common to these single task missions (such as those supporting post-disaster recovery) and it may be more efficient to have multiple tasks carried out as part of a single UAV mission using common or even additional specialized equipment. In this paper, we propose and investigate a joint planning of multitask missions leveraging a fleet of UAVs equipped with a standard set of accessories enabling heterogeneous tasks. To this end, an optimization problem is formulated yielding the optimal joint planning and deriving the resulting quality of the delivered tasks. In addition, a heuristic solution is developed for large-scale environments to cope with the increased complexity of the optimization framework. The developed joint planning of multitask missions is applied to a specific post-disaster recovery scenario of a flooding in the San Francisco area. The results show the effectiveness of the proposed solutions and the potential savings in the number of UAVs needed to carry out all the tasks with the required level of quality.
Several recent studies have already investigated optimization strategies for drone-assisted delivery models (see @cite_3 for a literature review). In particular, variations of the Travelling Salesman Problem leveraging UAVs for last-mile delivery have been introduced @cite_11 .
@cite_3 @cite_11
2801247784 1977319619
Abstract Once limited to the military domain, unmanned aerial vehicles are now poised to gain widespread adoption in the commercial sector. One such application is to deploy these aircraft, also known as drones, for last-mile delivery in logistics operations. While significant research efforts are underway to improve the technology required to enable delivery by drone, less attention has been focused on the operational challenges associated with leveraging this technology. This paper provides two mathematical programming models aimed at optimal routing and scheduling of unmanned aircraft, and delivery trucks, in this new paradigm of parcel delivery. In particular, a unique variant of the classical vehicle routing problem is introduced, motivated by a scenario in which an unmanned aerial vehicle works in collaboration with a traditional delivery truck to distribute parcels. We present mixed integer linear programming formulations for two delivery-by-drone problems, along with two simple, yet effective, heuristic solution approaches to solve problems of practical size. Solutions to these problems will facilitate the adoption of unmanned aircraft for last-mile delivery. Such a delivery system is expected to provide faster receipt of customer orders at less cost to the distributor and with reduced environmental impacts. A numerical analysis demonstrates the effectiveness of the heuristics and investigates the tradeoffs between using drones with faster flight speeds versus longer endurance. Unmanned aerial vehicles, or drones, have the potential to significantly reduce the cost and time of making last-mile deliveries and responding to emergencies. Despite this potential, little work has gone into developing vehicle routing problems (VRPs) specifically for drone delivery scenarios. Existing VRPs are insufficient for planning drone deliveries: either multiple trips to the depot are not permitted, leading to solutions with excess drones, or the effect of battery and payload weight on energy consumption is not considered, leading to costly or infeasible routes. We propose two multitrip VRPs for drone delivery that address both issues. One minimizes costs subject to a delivery time limit, while the other minimizes the overall delivery time subject to a budget constraint. We mathematically derive and experimentally validate an energy consumption model for multirotor drones, demonstrating that energy consumption varies approximately linearly with payload and battery weight. We use this approximation to derive mixed integer linear programs for our VRPs. We propose a cost function that considers our energy consumption model and drone reuse, and apply it in a simulated annealing (SA) heuristic for finding suboptimal solutions to practical scenarios. To assist drone delivery practitioners with balancing cost and delivery time, the SA heuristic is used to show that the minimum cost has an inverse exponential relationship with the delivery time limit, and the minimum overall delivery time has an inverse exponential relationship with the budget. Numerical results confirm the importance of reusing drones and optimizing battery size in drone delivery VRPs. The use of unmanned aerial vehicles (UAVs) as delivery systems of online goods is rapidly becoming a global norm, as corroborated by Amazon's “Prime Air” and Google's “Project Wing” projects. However, the real-world deployment of such drone delivery systems faces many cyber-physical security challenges. In this paper, a novel mathematical framework for analyzing and enhancing the security of drone delivery systems is introduced. In this regard, a zero-sum network interdiction game is formulated between a vendor, operating a drone delivery system, and a malicious attacker. In this game, the vendor seeks to find the optimal path that its UAV should follow, to deliver a purchase from the vendor's warehouse to a customer location, to minimize the delivery time. Meanwhile, an attacker seeks to choose an optimal location to interdict the potential paths of the UAVs, so as to inflict cyber or physical damage to it, thus, maximizing its delivery time. First, the Nash equilibrium point of this game is characterized. Then, to capture the subjective behavior of both the vendor and attacker, new notions from prospect theory are incorporated into the game. These notions allow capturing the vendor's and attacker's i) subjective perception of attack success probabilities, and ii) their disparate subjective valuations of the achieved delivery times relative to a certain target delivery time. Simulation results have shown that the subjective decision making of the vendor and attacker leads to adopting risky path selection strategies which inflict delays to the delivery, thus, yielding unexpected delivery times which surpass the target delivery time set by the vendor. Just as the mobile phone allowed developing countries to leapfrog technology in personal communication, the delivery drone has the potential to have the same effect on traditional transportation infrastructure. Inaccessible roads no longer will prevent delivery of blood, medications or other healthcare items. This paper reviews the current status of innovative drone delivery with a particular emphasis on healthcare. The leading companies in this field and their different strategies are studied. Further we review the latest decision models that facilitate management decision making for operating a drone fleet. Our contribution in this paper of two new models associated with the design of a drone healthcare delivery network will facilitate more timely, efficient and economical drone healthcare delivery to potentially save lives. Unmanned aerial vehicles (UAVs), or aerial drones, are an emerging technology with significant market potential. UAVs may lead to substantial cost savings in, for instance, monitoring of difficult-to-access infrastructure, spraying fields and performing surveillance in precision agriculture, as well as in deliveries of packages. In some applications, like disaster management, transport of medical supplies, or environmental monitoring, aerial drones may even help save lives. In this article, we provide a literature survey on optimization approaches to civil applications of UAVs. Our goal is to provide a fast point of entry into the topic for interested researchers and operations planning specialists. We describe the most promising aerial drone applications and outline characteristics of aerial drones relevant to operations planning. In this review of more than 200 articles, we provide insights into widespread and emerging modeling approaches. We conclude by suggesting promising directions for future research. Abstract Drones, or unmanned aerial vehicles (UAVs), show high potential for parcel delivery. Drone delivery may be faster, less expensive, and more eco-friendly than traditional delivery modes such as trucks. Drones are not yet in commercial use, but many companies such as Amazon and Google have done pilot tests, and they will probably become common in the near future. Regardless of what companies decide, however, adoption intention among customers is vague. This study explores the factors affecting attitudes to drone delivery service and intention to adopt among 296 U.S. consumers by online survey. The results demonstrate that the relative advantages of speed and environmental friendliness, along with complexity, performance risk, and privacy risk, affect drone delivery adoption. Personal innovativeness also positively affects adoption intention. Furthermore, the results show that the determinants of drone delivery adoption differ according to the customer’s area of residence. We study a generalization of the well-known traveling salesman problem (TSP) where each customer provides or requires a given non-zero amount of product, and the vehicle in a depot has a given capacity. Each customer and the depot must be visited exactly once by the vehicle supplying the demand while minimizing the total travel distance. We assume that the product collected from pickup customers can be delivered to delivery customers. We introduce a 0-1 integer linear model for this problem and describe a branch-and-cut procedure for finding an optimal solution. The model and the algorithm are adapted to solve instances of TSP with pickup and delivery. Some computational results are presented to analyze the performance of our proposal. We introduce a package service model where trucks as well as drones can deliver packages. Drones can travel on trucks or fly; but while flying, drones can only carry one package at a time and have to return to a truck to charge after each delivery. We present a heuristic algorithm to solve the problem of finding a good schedule for all drones and trucks. The algorithm is based on two nested local searches, thus the definition of suitable neighbourhoods of solutions is crucial for the algorithm. Empirical tests show that our algorithm performs significantly better than a natural Greedy algorithm. Moreover, the savings compared to solutions without drones turn out to be substantial, suggesting that delivery systems might considerably benefit from using drones in addition to trucks. This paper addresses the task scheduling and path planning problem for a team of cooperating vehicles performing autonomous deliveries in urban environments. The cooperating team comprises two vehicles with complementary capabilities, a truck restricted to travel along a street network, and a quadrotor micro-aerial vehicle of capacity one that can be deployed from the truck to perform deliveries. The problem is formulated as an optimal path planning problem on a graph and the goal is to find the shortest cooperative route enabling the quadrotor to deliver items at all requested locations. The problem is shown to be NP-hard. A solution is then proposed using a novel reduction to the Generalized Traveling Salesman Problem, for which well-established heuristic solvers exist. The heterogeneous delivery problem contains as a special case the problem of scheduling deliveries from multiple static warehouses. We propose two additional algorithms, based on enumeration and a reduction to the traveling salesman problem, for this special case. Simulation results compare the performance of the presented algorithms and demonstrate examples of delivery route computations over real urban street maps. We address the problem of managing a drone-based delivery process. We consider the specific situation of a delivery company, that uses a set of trucks equipped with a given number of drones. In particular, items of a limited weight and size could be delivered by using drones. A vehicle, during its trip, can launch a drone when serving a customer, the drone performs a delivery for exactly one customer and returns to the vehicle, possibly at a different customer location. Each drone can be launched several times during the vehicle’s route. It is imposed a limit on the maximum distance that each drone can travel and synchronization requirements between vehicle and drone should be ensured. In particular, it is assumed that a vehicle waits for a drone for a maximum period of time. The aim is to serve all customers within their time window. The problem is modeled as a variant of the vehicle routing problem with time windows. The aim of this work is to analyze the delivery process with drones, by taking into account the total transportation cost and highlighting strategical issues, related to the use of drones. The numerical results, collected on instances generated to be very close to reality, show that the use of drones is not economically convenient in the classical terms. However, when considering negative externalities related to the use of classical vehicles and quality of service requirements, the benefit of using drones becomes relevant. Unmanned aerial vehicles (UAVs), a.k.a. drones, are becoming increasingly popular due to great advancements in their control mechanisms and price reduction. UAVs are being used in applications such as package delivery, plantation and railroad track monitoring, where UAVs carry out tasks in an automated fashion. Devising how UAVs achieve a task is challenging as the environment where UAVs are deployed is normally unpredictable, for example, due to winds. Formal methods can help engineers to specify flight strategies and to evaluate how well UAVs are going to perform to achieve a task. This paper proposes a formal framework where engineers can raise the confidence in their UAV specification by using symbolic, simulation and statistical and model checking methods. Our framework is constructed over three main components: the behavior of UAVs and the environment are specified in a formal executable language; the UAV’s physical model is specified by a simulator; and statistical model checking algorithms are used for the analysis of system behaviors. We demonstrate the effectiveness of our framework by means of several scenarios involving multiple drones. The use of flying platforms such as unmanned aerial vehicles (UAVs), popularly known as drones, is rapidly growing. In particular, with their inherent attributes such as mobility, flexibility, and adaptive altitude, UAVs admit several key potential applications in wireless systems. On the one hand, UAVs can be used as aerial base stations to enhance coverage, capacity, reliability, and energy efficiency of wireless networks. On the other hand, UAVs can operate as flying mobile terminals within a cellular network. Such cellular-connected UAVs can enable several applications ranging from real-time video streaming to item delivery. In this paper, a comprehensive tutorial on the potential benefits and applications of UAVs in wireless communications is presented. Moreover, the important challenges and the fundamental tradeoffs in UAV-enabled wireless networks are thoroughly investigated. In particular, the key UAV challenges such as 3D deployment, performance analysis, channel modeling, and energy efficiency are explored along with representative results. Then, open problems and potential research directions pertaining to UAV communications are introduced. Finally, various analytical frameworks and mathematical tools, such as optimization theory, machine learning, stochastic geometry, transport theory, and game theory are described. The use of such tools for addressing unique UAV problems is also presented. In a nutshell, this tutorial provides key guidelines on how to analyze, optimize, and design UAV-based wireless communication systems. The vehicle routing problem with drones (VRPD) is inspired by the increasing interest in commercial drone delivery by companies such as Amazon, Google, DHL, and Walmart. In our model, a fleet of m homogeneous trucks each carries k drones with a speed of α times that of the truck. Each drone may dispatch from the top of the truck and carry a package to a customer location. The drone then returns to the top of its truck to recharge or swap batteries (we assume instantaneously). The truck itself is allowed to move and deliver packages, but must be stationary at a delivery location or the depot when launching or retrieving drones. The goal is to minimize the completion time to deliver all packages and return all vehicles back to the central depot. In this article, we review and extend several worst-case results from an earlier paper and we make connections with another practical variant of the vehicle routing problem and with Amdahl's Law. We find that the VRPD model offers some important practical advantages. The drones allow the truck to parallelize tasks and they are able to take advantage of crow-fly distances. © 2017 Wiley Periodicals, Inc. NETWORKS, Vol. 70(1), 34–43 2017 With companies such as Netflix and YouTube accounting for more than 50 of the peak download traffic on North American fixed networks in 2015, video streaming represents a significant source of Internet traffic. Multimedia delivery over the Internet has evolved rapidly over the past few years. The last decade has seen video streaming transitioning from User Datagram Protocol to Transmission Control Protocol-based technologies. Dynamic adaptive streaming over HTTP (DASH) has recently emerged as a standard for Internet video streaming. A range of rate adaptation mechanisms are proposed for DASH systems in order to deliver video quality that matches the throughput of dynamic network conditions for a richer user experience. This survey paper looks at emerging research into the application of client-side, server-side, and in-network rate adaptation techniques to support DASH-based content delivery. We provide context and motivation for the application of these techniques and review significant works in the literature from the past decade. These works are categorized according to the feedback signals used and the end-node that performs or assists with the adaptation. We also provide a review of several notable video traffic measurement and characterization studies and outline open research questions in the field. Given a tour visiting n points in a metric space, the latency of one of these points p is the distance traveled in the tour before reaching p. The minimum latency problem (MLP) asks for a tour passing through n given points for which the total latency of the n points is minimum; in effect, we are seeking the tour with minimum average arrival time. This problem has been studied in the operations research literature, where it has also been termed the delivery-man problem and the traveling repairman problem. The approximability of the MLP was first considered by Sahni and Gonzalez in 1976; however, unlike the classical traveling salesman problem (TSP), it is not easy to give any constant-factor approximation algorithm for the MLP. Recently, (A. Blum, P. Chalasani, D. Coppersimith, W. Pulleyblank, P. Raghavan, M. Sudan, Proceedings of the 26th ACM Symposium on the Theory of Computing, 1994, pp. 163-171) gave the first such algorithm, obtaining an approximation ratio of 144. In this work, we develop an algorithm which improves this ratio to 21.55; moreover, combining our algorithm with a recent result of Garg (N. Garg, Proceedings of the 37th IEEE Symposium on Foundations of Computer Science, 1996, pp. 302-309) provides an approximation ratio of 10.78. The development of our algorithm involves a number of techniques that seem to be of interest from the perspective of the TSP and its variants more generally. This paper reports a systematic review of empirical studies concerning the effectiveness of elicitation techniques, and the subsequent aggregation of empirical evidence gathered from those studies. The most significant results of the aggregation process are as follows: (1) Interviews, preferentially structured, appear to be one of the most effective elicitation techniques; (2) Many techniques often cited in the literature, like card sorting, ranking or thinking aloud, tend to be less effective than interviews; (3) Analyst experience does not appear to be a relevant factor; and (4) The studies conducted have not found the use of intermediate representations during elicitation to have significant positive effects. It should be noted that, as a general rule, the studies from which these results were aggregated have not been replicated, and therefore the above claims cannot be said to be absolutely certain. However, they can be used by researchers as pieces of knowledge to be further investigated and by practitioners in development projects, always taking into account that they are preliminary findings. The use of miniature Unmanned Aerial Vehicles (UAVs), e.g. quadrocopters, has gained great popularity over the last years. Some complex application scenarios for micro UAVs call for the formation of swarms of multiple drones. In this paper a platform for the creation of such swarms is presented. It consists of commercial quadrocopters enhanced with on-board processing and communication units enabling autonomy of individual drones. Furthermore, a generic ground control station has been realized. Different co-operation strategies for teams of UAVs are currently evaluated with an agent based simulation tool. Finally, complex application scenarios for multiple micro UAVs are presented. How do you learn to navigate an Unmanned Aerial Vehicle (UAV) and avoid obstacles? One approach is to use a small dataset collected by human experts: however, high capacity learning algorithms tend to overfit when trained with little data. An alternative is to use simulation. But the gap between simulation and real world remains large especially for perception problems. The reason most research avoids using large-scale real data is the fear of crashes! In this paper, we propose to bite the bullet and collect a dataset of crashes itself! We build a drone whose sole purpose is to crash into objects: it samples naive trajectories and crashes into random objects. We crash our drone 11,500 times to create one of the biggest UAV crash dataset. This dataset captures the different ways in which a UAV can crash. We use all this negative flying data in conjunction with positive data sampled from the same trajectories to learn a simple yet powerful policy for UAV navigation. We show that this simple self-supervised model is quite effective in navigating the UAV even in extremely cluttered environments with dynamic obstacles including humans. For supplementary video see: How do you learn to navigate an Unmanned Aerial Vehicle (UAV) and avoid obstacles? One approach is to use a small dataset collected by human experts: however, high capacity learning algorithms tend to overfit when trained with little data. An alternative is to use simulation. But the gap between simulation and real world remains large especially for perception problems. The reason most research avoids using large-scale real data is the fear of crashes! In this paper, we propose to bite the bullet and collect a dataset of crashes itself! We build a drone whose sole purpose is to crash into objects: it samples naive trajectories and crashes into random objects. We crash our drone 11,500 times to create one of the biggest UAV crash dataset. This dataset captures the different ways in which a UAV can crash. We use all this negative flying data in conjunction with positive data sampled from the same trajectories to learn a simple yet powerful policy for UAV navigation. We show that this simple self-supervised model is quite effective in navigating the UAV even in extremely cluttered environments with dynamic obstacles including humans. For supplementary video see: this https URL In this paper we review the exact algorithms proposed in the last three decades for the solution of the vehicle routing problem with time windows (VRPTW). The exact algorithms for the VRPTW are in many aspects inherited from work on the traveling salesman problem (TSP). In recognition of this fact this paper is structured relative to four seminal papers concerning the formulation and exact solution of the TSP, i.e. the arc formulation, the arc-node formulation, the spanning tree formulation, and the path formulation. We give a detailed analysis of the formulations of the VRPTW and a review of the literature related to the different formulations. There are two main lines of development in relation to the exact algorithms for the VRPTW. One is concerned with the general decomposition approach and the solution to certain dual problems associated with the VRPTW. Another more recent direction is concerned with the analysis of the polyhedral structure of the VRPTW. We conclude by examining possible future lines of research in the area of the VRPTW.