mrpcp/README.md at master · NESTLab/mrpcp · GitHub

MILP formulation of Multi-Robot Long-Term Persistent Coverage Problem

Linear Constraints

Same as the constraints in the paper, except for Equation 13:

$\sum_{j\in N \backslash{i}} (p_{ji}^k - p_{ij}^k) = 0 \hspace{0.5in} \forall i \in D \backslash Bk, k\in K$

Reference:

D. Mitchell, M. Corah, N. Chakraborty, K. Sycara and N. Michael, "Multi-robot long-term persistent coverage with fuel constrained robots," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 1093-1099