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Taheri, Azita, Abedian, Rooholah, Hamid, Mahdi, Ghodousian, Amin. (1405). A robust bi-level location-routing optimization problem for motorcycle-UAV cooperative agricultural monitoring under battery capacity uncertainty. فیزیولوژی و بیوتکنولوژی آبزیان, (), -. doi: 10.22124/jmm.2026.33228.3027
Azita Taheri; Rooholah Abedian; Mahdi Hamid; Amin Ghodousian. "A robust bi-level location-routing optimization problem for motorcycle-UAV cooperative agricultural monitoring under battery capacity uncertainty". فیزیولوژی و بیوتکنولوژی آبزیان, , , 1405, -. doi: 10.22124/jmm.2026.33228.3027
Taheri, Azita, Abedian, Rooholah, Hamid, Mahdi, Ghodousian, Amin. (1405). 'A robust bi-level location-routing optimization problem for motorcycle-UAV cooperative agricultural monitoring under battery capacity uncertainty', فیزیولوژی و بیوتکنولوژی آبزیان, (), pp. -. doi: 10.22124/jmm.2026.33228.3027
Taheri, Azita, Abedian, Rooholah, Hamid, Mahdi, Ghodousian, Amin. A robust bi-level location-routing optimization problem for motorcycle-UAV cooperative agricultural monitoring under battery capacity uncertainty. فیزیولوژی و بیوتکنولوژی آبزیان, 1405; (): -. doi: 10.22124/jmm.2026.33228.3027

A robust bi-level location-routing optimization problem for motorcycle-UAV cooperative agricultural monitoring under battery capacity uncertainty

Journal of Mathematical Modeling
مقالات آماده انتشار، اصلاح شده برای چاپ، انتشار آنلاین از تاریخ 15 شهریور 1405    اصل مقاله (1.71 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22124/jmm.2026.33228.3027
نویسندگان
Azita Taheri1؛ Rooholah Abedian* 2؛ Mahdi Hamid3؛ Amin Ghodousian1
1School of Engineering Science, College of Engineering, University of Tehran, Iran
2School of engineering science, College of engineering, University of Tehran, Tehran, Iran
3Department of Industrial Engineering, Amirkabir University of Technology, Tehran, Iran
چکیده
This paper develops a robust bi-level optimization model for integrated depot location and routing in UAV-based agricultural surveillance networks under battery-capacity uncertainty. The upper-level problem determines depot locations and assigns gardens to selected depots while anticipating operational decisions. The lower-level problem optimizes coordinated missions of quad-plane UAVs and ground-support motorcycles. The model explicitly considers routing, service scheduling, charging-station synchronization, and battery inventory management. Battery-capacity uncertainty is incorporated using the Bertsimas–Sim budgeted uncertainty framework, which leads to a robust reformulation of the operational problem. To address the computational complexity of real-scale instances, a hybrid solution approach combining the bi-level optimization framework with K-means clustering is proposed. The model is evaluated on a real-world pistachio surveillance network in Kerman Province, Iran. Computational results and managerial insights demonstrate the applicability and effectiveness of the proposed approach.
کلیدواژه‌ها
Bi-level optimization model؛ UAV routing planning؛ depot location problem؛ agricultural surveillance modeling؛ routing scheduling
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