A flow-based MILP reformulation for graph inspection planning solves problems with up to 15,000 vertices and reduces optimality gaps by 30-50% on large instances.
Incremental sampling-based algo- rithms for optimal motion planning.Robotics Science and Systems VI, 104 (2):267–274, 2010
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Scalable Inspection Planning via Flow-based Mixed Integer Linear Programming
A flow-based MILP reformulation for graph inspection planning solves problems with up to 15,000 vertices and reduces optimality gaps by 30-50% on large instances.