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| Sets | |
| Set of trips, ,where is the total number of trips |
| Set of all the feasible timetables |
| Set of terminals |
| Set of vehicles, , where is the total number of vehicles |
| Set of vehicles located in terminal , |
| Sets of trips that start from (end at) the terminal |
| Parameters | |
| The given initial daily timetable |
| The departure (arrival) time of trip in |
| The travel time of trip |
| The penalty cost for shifting the departure time of trip per unit time, e.g., one minute |
| The penalty cost for canceling trip |
| The cost for vehicle if it is used |
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| The origin (destination) terminal of trip |
| The minimum headway of operational requirement |
| The maximum allowed earliness (tardiness) for the departure time of trip |
| The minimum (maximum) time for a turnaround operation |
| The maximum allowed number of trips executed by vehicle |
| Decision variables | |
| Binary variables, 1 if vehicle travels from vertex (trip) directly to vertex (trip) , and 0 otherwise |
| Non-negative integer variables, indicating the departure (arrival) time of trip in the final output feasible timetable |
| Binary variables, 1 if trip is canceled, and 0 otherwise |
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