# An Integer Programming Based Approach to Delivery Drone Routing under Load-Dependent Flight Speed

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## Abstract

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## 1. Introduction

_{2}since they are battery-powered. Furthermore, the unmanned flight of drones can reduce the labor costs required for delivery. Thus, delivery drones have many advantages.

## 2. Literature Reviews

## 3. Description of TSP

## 4. Description of FSTSP

#### 4.1. An Example

#### 4.2. FSTSP Formulation

## 5. Approximation Approaches by Integer Programming

#### 5.1. Approximation Approach

#### 5.2. Case of AR Drone 2.0

#### 5.3. Case of SkyLift

## 6. Evaluation

#### 6.1. Experimental Setups

- DP-FSTSP: This method solves FSTSP using dynamic programming [5].
- DP-TSP: This method solves TSP using dynamic programming.
- CPLEX-IQP-single: This method solves FSTSP based on an IQP approach by quadratic approximation of the objective with CPLEX on a single thread.
- CPLEX-IQP-multi: This method solves FSTSP based on an IQP approach by quadratic approximation of the objective with CPLEX on multiple threads.
- CPLEX-ICP-single: This method solves FSTSP based on an ICP approach by cubic approximation of the objective with CPLEX on a single thread.
- CPLEX-ICP-multi: This method solves FSTSP based on an ICP approach by cubic approximation of the objective with CPLEX on multiple threads.

#### 6.2. Experimental Results

## 7. Conclusions

## Author Contributions

## Funding

## Data Availability Statement

## Conflicts of Interest

## References

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## Share and Cite

**MDPI and ACS Style**

Nishira, M.; Ito, S.; Nishikawa, H.; Kong, X.; Tomiyama, H.
An Integer Programming Based Approach to Delivery Drone Routing under Load-Dependent Flight Speed. *Drones* **2023**, *7*, 320.
https://doi.org/10.3390/drones7050320

**AMA Style**

Nishira M, Ito S, Nishikawa H, Kong X, Tomiyama H.
An Integer Programming Based Approach to Delivery Drone Routing under Load-Dependent Flight Speed. *Drones*. 2023; 7(5):320.
https://doi.org/10.3390/drones7050320

**Chicago/Turabian Style**

Nishira, Mao, Satoshi Ito, Hiroki Nishikawa, Xiangbo Kong, and Hiroyuki Tomiyama.
2023. "An Integer Programming Based Approach to Delivery Drone Routing under Load-Dependent Flight Speed" *Drones* 7, no. 5: 320.
https://doi.org/10.3390/drones7050320