Page 168 - Innovations in Intelligent Machines

160 S. Rathinam and R. Sengupta

UAV starting
location
Destination
terminal location
Fig. 12. Step 1 of algorithm CF for MDMTSP: Find the optimal constrained
forest

UAV starting
location
Destination
terminal location
Fig. 13. Step 2 of algorithm CF for MDMTSP: Double the edges in each tree to
get a Eulerian graph for each vehicle