# Trajectory-based Traveling Salesman Problem for Multirotor UAVs

arXiv: https://arxiv.org/abs/2211.16820 · HTML: https://mlsanity.com/paper/2211.16820/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Nov 2022.

## Built on by (most cited first, 1 of 1)

- [TSPDiffuser: Diffusion Models as Learned Samplers for Traveling Salesperson Path Planning Problems](https://mlsanity.com/paper/2406.02858/) (2024)

## Abstract (arXiv)

This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited maneuverability of the UAVs due to their kinematic properties. To this end, we allow each waypoint to be traversed with a discretized velocity as well as a discretized flight direction and compute time-optimal trajectories to determine the travel time costs for each edge. We refer to this novel optimization problem as the Trajectory-based Traveling Salesman Problem (TBTSP). The results show that compared to a state-of-the-art approach for Traveling Salesman Problems with kinematic restrictions of UAVs, we can decrease mission duration by up to 15%.