Minimal Exposure Dubins Orienteering Problem

Visiting and observing specified locations is a fundamental task for various applications including environmental monitoring military operations. The Orienteering Problem (OP) variant of routing problems in which the goal to maximize objective function by visiting most rewarding while respecting limited travel budget (e.g., distance or time). However, traditional formulations generally neglect some peculiarities, such as obstacles threatening zones. In this letter, we tackle OP considering Dubins vehicles presence known deployed sensor field. We propose novel multi-objective formulation called Minimal Exposure (MEDOP), whose goals are (i) collected reward, (ii) minimizing exposure agent, i.e., probability being detected. solution based on an evolutionary algorithm that iteratively varies subset sequence be visited, orientations each location, turning radii connecting segments. Results show our approach consistent can efficiently find diverse set solutions simultaneously optimize both objectives.