This paper addresses the issue of task assignment and scheduling for teams of cooperative Unmanned Aerial Vehicles (UAVs) operating in a semi-autonomous manner with a single operator controlling the multiple-vehicle team. Mixed-Integer Linear Programming (MILP) is a highly effective technique for expressing this type of complex optimization problem because it allows for binary decision variables, continuous timing variables, and an extensive, flexible constraint set. A general MILP formulation is proposed, ...
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