MILP formulation of Multi-Robot Long-Term Persistent Coverage Problem

Linear Constraints

Same as the constraints in the paper, except for Equation 13:

Reference:

D. Mitchell, M. Corah, N. Chakraborty, K. Sycara and N. Michael, "Multi-robot long-term persistent coverage with fuel constrained robots," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 1093-1099