{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T20:49:32Z","timestamp":1775681372619,"version":"3.50.1"},"reference-count":44,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2019,11,25]],"date-time":"2019-11-25T00:00:00Z","timestamp":1574640000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["71971075, 71871079, 71671059, and 71401048"],"award-info":[{"award-number":["71971075, 71871079, 71671059, and 71401048"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003995","name":"Natural Science Foundation of Anhui Province","doi-asserted-by":"publisher","award":["1808085MG213 and 1508085MG140"],"award-info":[{"award-number":["1808085MG213 and 1508085MG140"]}],"id":[{"id":"10.13039\/501100003995","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["JZ2018HGBZ0128 and PA2019GDPK0082"],"award-info":[{"award-number":["JZ2018HGBZ0128 and PA2019GDPK0082"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The remarkable development of various sensor equipment and communication technologies has stimulated many application platforms of automation. A drone is a sensing platform with strong environmental adaptability and expandability, which is widely used in aerial photography, transmission line inspection, remote sensing mapping, auxiliary communication, traffic patrolling, and other fields. A drone is an effective supplement to the current patrolling business in road traffic patrolling with complex urban buildings and road conditions and a limited ground perspective. However, the limited endurance of patrol drones can be directly solved by vehicles that cooperate with drones on patrolling missions. In this paper, we first proposed and studied the traffic patrolling routing problem with drones (TPRP-D) in an urban road system. Considering road network equations and the heterogeneity of patrolling tasks in the actual patrolling process, we modeled the problem as a double-layer arc routing problem (DL-ARP). Based on graph theory and related research work, we present the mixed integer linear programming formulations and two-stage heuristic solution approaches to solve practical-sized problems. Through analysis of numerical experiments, the solution method proposed in this paper can quickly provide an optimal path planning scheme for different test sets, which can save 9%\u201316% of time compared with traditional vehicle patrol. At the same time, we analyze several relevant parameters of the patrol process to determine the effect of coordinated traffic patrol. Finally, a case study was completed to verify the practicability of the algorithm.<\/jats:p>","DOI":"10.3390\/s19235164","type":"journal-article","created":{"date-parts":[[2019,11,25]],"date-time":"2019-11-25T11:12:21Z","timestamp":1574680341000},"page":"5164","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":46,"title":["Traffic Patrolling Routing Problem with Drones in an Urban Road System"],"prefix":"10.3390","volume":"19","author":[{"given":"He","family":"Luo","sequence":"first","affiliation":[{"name":"School of Management, Hefei University of Technology, Hefei 230009, China"},{"name":"Key Laboratory of Process Optimization and Intelligent Decision-Making, Ministry of Education, Hefei 230009, China"},{"name":"Engineering Research Center for Intelligent Decision-making &amp; Information Systems Technologies, Ministry of Education, Hefei 230009, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peng","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Management, Hefei University of Technology, Hefei 230009, China"},{"name":"Key Laboratory of Process Optimization and Intelligent Decision-Making, Ministry of Education, Hefei 230009, China"},{"name":"Engineering Research Center for Intelligent Decision-making &amp; Information Systems Technologies, Ministry of Education, Hefei 230009, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiajie","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Management, Hefei University of Technology, Hefei 230009, China"},{"name":"Key Laboratory of Urban ITS Technology Optimization and Integration, The Ministry of Public Security of China, Hefei 230088, China"},{"name":"Anhui Keli Information Industry CO., LTD, Hefei 230088, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guoqiang","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Management, Hefei University of Technology, Hefei 230009, China"},{"name":"Key Laboratory of Process Optimization and Intelligent Decision-Making, Ministry of Education, Hefei 230009, China"},{"name":"Engineering Research Center for Intelligent Decision-making &amp; Information Systems Technologies, Ministry of Education, Hefei 230009, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fanhe","family":"Meng","sequence":"additional","affiliation":[{"name":"Key Laboratory of Urban ITS Technology Optimization and Integration, The Ministry of Public Security of China, Hefei 230088, China"},{"name":"Anhui Keli Information Industry CO., LTD, Hefei 230088, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,11,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1016\/j.cie.2018.05.039","article-title":"Unmanned aerial vehicle scheduling problem for traffic monitoring","volume":"122","author":"Li","year":"2018","journal-title":"Comput. 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