Annals of Operations Research

, Volume 249, Issue 1–2, pp 163–174 | Cite as

Optimal scheduling for replacing perimeter guarding unmanned aerial vehicles

  • Oleg BurdakovEmail author
  • Jonas Kvarnström
  • Patrick Doherty
S.I.: Pardalos60


Guarding the perimeter of an area in order to detect potential intruders is an important task in a variety of security-related applications. This task can in many circumstances be performed by a set of camera-equipped unmanned aerial vehicles (UAVs). Such UAVs will occasionally require refueling or recharging, in which case they must temporarily be replaced by other UAVs in order to maintain complete surveillance of the perimeter. In this paper we consider the problem of scheduling such replacements. We present optimal replacement strategies and justify their optimality.


Scheduling problem Optimal replacement strategies Perimeter guarding Unmanned aerial vehicles 



This work is partially supported by the EU FP7 project SHERPA (grant agreement 600958), the Vinnova NFFP6 Project 2013-01206, the Swedish Foundation for Strategic Research (CUAS Project), the Swedish Research Council (VR) Linnaeus Center CADICS, and the ELLIIT network organization for Information and Communication Technology. We thank Alexander Kleiner for initial discussions concerning the topics in this paper.


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Copyright information

© Springer Science+Business Media New York 2016

Authors and Affiliations

  • Oleg Burdakov
    • 1
    Email author
  • Jonas Kvarnström
    • 2
  • Patrick Doherty
    • 2
  1. 1.Department of MathematicsLinköping UniversityLinköpingSweden
  2. 2.Department of Computer and Information ScienceLinköping UniversityLinköpingSweden

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