©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.\ud This is the final 'as published' version of an article published by IEEE. http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=9.We consider a mission in which m UAVs with a capacity limit q each visit n(≤mq) targets in a hostile environment in a cooperative\ud manner (and return to where they departed from) such that the cost reflecting\ud operating time and risk exposed is minimized. We first propose a mixed-integer linear programming (MILP) formulation which exactly solves the problem and then propose four alternative MILP formulations which are computationally less intensive and, therefore, suited for real-time purposes, but yield a theoretically guaranteed suboptimal solution. The main contributions of this note are an exact but compact MILP formulation, using a room concept, and four nonexact formulations, each one of which ensures a certain level of solution quality and relatively fast computational time for the considered real-time mission scheduling problem
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