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We consider a single Unmanned Aerial Vehicle (UAV) routing problem wherethere are multiple depots and the vehicle is allowed to refuel at any depot.The objective of the problem is to find a path for the UAV such that eachtarget is visited at least once by the vehicle, the fuel constraint is neverviolated along the path for the UAV, and the total fuel required by the UAV isa minimum. We develop an approximation algorithm for the problem, and proposefast construction and improvement heuristics to solve the same. Computationalresults show that solutions whose costs are on an average within 1.4% of theoptimum can be obtained relatively fast for the problem involving 5 depots and25 targets.

Algorithms for Routing an Unmanned Aerial Vehicle in the presence of Refueling Depots