A lagrangian-based algorithm for a combinatorial motion planning problem

We consider a combinatorial motion planning problem (CMP) that naturally arises in many applications involving unmanned aerial vehicles (UAVs) with fuel and motion constraints. The motion constraint we consider is the inability of a vehicle to turn at an arbitrary yaw rate. The CMP is a generalization of a single travelling salesman problem and is NP-hard. In this paper, we exploit the combinatorial structure of the problem and provide heuristics with computational results to address the same.