Heuristics for Two Depot Heterogeneous Unmanned Vehicle Path Planning to Minimize Maximum Travel Cost

. 2019 May 29;19(11):2461. doi: 10.3390/s19112461

$R = {r_{1}, r_{2}}$	a set of UVs
$D = {d_{1}, d_{2}}$	a set of depots
$T = {t_{1}, \dots, t_{n}}$	a set of targets
$V_{k} = {{d_{k}} \cup T}$	a set of vertices for $r_{k}$
$E_{k} = {(i, j), \forall i, j \in V_{k}}$	a set of edges that connect all vertices in $V_{k}$
$C_{k} = {c o s t_{i j}^{k}, \forall (i, j) \in E_{k}}$	a set of travel costs of all edges in $E_{k}$
$δ_{k} (S)$	the subset of the edges of $E_{k}$ that have one end in S and the other end in $V_{k} \ S$
$δ_{k}^{+} (S)$	the subset of the edges $(i, j) \in E_{k}$ such that $i \in V_{k} \ S$ and $j \in S$