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

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

$d u a l_{k} (v)$	the dual variable of a set C where $v \in C$ , which keeps track of $\sum_{C : u \in C} Y_{k} (C)$
$b o u n d (C)$	the dual variable of a set C in $C_{2}$ , which keeps track of $\sum_{S \subseteq U} Y_{2} (S)$
$a c t i v e_{k} (C)$	the activeness of set $C \in C_{k}$ . $a c t i v e_{k} (C) = 1$ only if C is active.
$C h i l d r e n (C)$	the subsets of set $C \in C_{1}$ in $C_{2}$