Page 176 - Innovations in Intelligent Machines

168 S. Rathinam and R. Sengupta

UAV
destination

Fig. 19. After removing the zero cost edges, double the edges of the MST to get a
Eulerian graph for each UAV

UAV
destination
Fig. 20. Compute a tour based on the Eulerian graph for each UAV

UAV
destination
Fig. 21. Use the sequence got from the tour and construct paths using the S
algorithm between the corresponding locations