Heuristics for Routing Heterogeneous Unmanned Vehicles with Fuel Constraints

Figure 6

The first step of the algorithm: the solid edges represent the shortest path PATH^𝑘(𝑥,𝑦) for the vehicle 𝑣_𝑘, to travel from target 𝑥 to target 𝑦, and the cost of traveling this path is denoted by 𝑙^𝑘(𝑥,𝑦).